crane

Abstract

The present invention provides a crane that improves the work efficiency of workers other than the crane operator by communicating the operating status of the telescopic boom, which moves multiple boom members using a single telescopic cylinder, to the operator. [Solution] The crane 1 comprises a pin-lock type telescopic boom 9, an input device 24 for inputting a telescopic pattern, and a control device 27 for calculating the estimated telescopic operation time T when the telescopic boom 9 is moved based on the telescopic pattern. The crane 1 has a display device 25 for transmitting information related to the crane 1 to workers other than the crane operator. The control device 27 calculates the estimated telescopic operation time T and transmits information including the estimated telescopic operation time T to the worker via the display device 25.

Description

Technical Field

[0001] The present invention relates to a crane having an information transmission device.

Background Art

[0002] In a crane having a telescopic boom that expands and contracts by moving a plurality of boom members in the axial direction, a so-called multi-telescopic boom having a structure in which the mechanical engagement relationship between the plurality of boom members and the telescopic cylinder that moves the boom members does not change depending on the expanded and contracted state is known. The crane having the multi-telescopic boom expands and contracts the multi-telescopic boom to a desired length by moving each of the plurality of boom members by at least one of the telescopic cylinders.

[0003] However, some of the multi-telescopic booms move the plurality of boom members by a plurality of the telescopic cylinders in order to correspond to the maximum length and the maximum lifting load. Also, the size and quantity of the telescopic cylinders increase as the maximum length and the maximum lifting load of the multi-telescopic boom increase. Therefore, the vehicle weight of the crane having the multi-telescopic boom increases as the maximum lifting load of the multi-telescopic boom increases.

[0004] Therefore, in order to suppress the increase in the vehicle weight of the crane, a crane with a so-called pin-lock type telescopic boom is known, which has a structure in which the mechanical connection relationship between the multiple boom members and a single telescopic cylinder that moves the multiple boom members changes by attaching and detaching a connecting pin. For example, Patent Document 1 discloses a crane with the pin-lock type telescopic boom. In the pin-lock type telescopic boom, multiple boom members are moved by a single telescopic cylinder. Therefore, even if the maximum length and maximum lifting load of the pin-lock type telescopic boom increase, the number of telescopic cylinders does not increase. As a result, the crane with the pin-lock type telescopic boom is lighter than the crane with the multi-telescopic boom. In the crane described in Patent Document 1, the multiple boom members are moved in a predetermined order to a predetermined boom length by extending and retracting a single telescopic cylinder based on an extension and retraction pattern. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2012-121665 [Overview of the project] [Problems that the invention aims to solve]

[0006] In the aforementioned pin-lock type telescopic boom, for example, when moving the first boom member of the pin-lock type telescopic boom to a first predetermined position and then moving the second boom member of the pin-lock type telescopic boom to a second predetermined position, the single telescopic cylinder first moves in the extension direction from the origin position to the first predetermined position while engaged with the first boom member. Next, the single telescopic cylinder retracts from the first predetermined position to the origin position while disengaged from the first boom member. When the telescopic cylinder retracts from the first predetermined position to the origin position, the pin-lock type telescopic boom is not extending or retracting. In this way, the operation status of the pin-lock type telescopic boom may not be recognizable from the outside. Therefore, if workers around a crane having the pin-lock type telescopic boom cannot visually confirm the operation status of the pin-lock type telescopic boom, they may not be able to properly grasp the work process of the crane, which could lead to a decrease in work efficiency in collaborative work with the crane.

[0007] The objective of the present invention is to provide a crane that improves the work efficiency of workers in collaborative work with the crane by transmitting the operating status of the telescopic boom, which moves multiple boom members using a single telescopic cylinder, to workers other than the crane operator. [Means for solving the problem]

[0008] The inventors of the present invention investigated a crane that improves the work efficiency of workers other than the crane operator by transmitting the operating status of the telescopic boom, which moves multiple boom members using a single telescopic cylinder, to the operator. As a result of diligent investigation, the inventors came up with the following configuration.

[0009] The crane according to the present invention comprises a vehicle body, a slewing platform provided on the vehicle body so as to rotate, a pin-lock type telescopic boom provided on the slewing platform so as to luff and unluff, having a plurality of boom members and a single actuator that switches between a state in which it is connected to one of the plurality of boom members by a connecting pin and a state in which it is separated, and which moves the boom member in the axial direction by extending and retracting the actuator in the state in which it is connected to the boom member, an input device for inputting an extension and retraction pattern which is a combination of the amount of movement of each of the plurality of boom members in the pin-lock type telescopic boom, and a control device for calculating the estimated extension and retraction operation time when the pin-lock type telescopic boom is moved based on the extension and retraction pattern input from the input device.

[0010] The crane has an information transmission device that transmits information related to the crane to workers other than the crane operator. The control device calculates the estimated extension and retraction time and transmits information related to the crane, including the estimated extension and retraction time, to the worker via the information transmission device.

[0011] In the above configuration, the crane calculates the estimated extension and retraction time when extending and retracting multiple boom members constituting the pin-lock type telescopic boom using a single telescopic cylinder, and transmits the estimated extension and retraction time to workers other than the crane operator via an information transmission device. This allows the crane to transmit information to the workers about the operating status, which cannot be seen from the outside. The workers can recognize that the telescopic cylinder within the pin-lock type telescopic boom is operating even when the pin-lock type telescopic boom is not extended or retracted. Therefore, the workers do not feel impatient that their work will be delayed even if the crane appears to be stopped. In addition, the workers can understand the completion time of the pin-lock type telescopic boom length switching operation, and can perform other tasks during the waiting time until the pin-lock type telescopic boom length switching operation is completed. By transmitting the operating status of the pin-lock type telescopic boom, which moves multiple boom members using a single telescopic cylinder, to workers other than the crane operator, the work efficiency of the workers in collaborative work with the crane can be improved.

[0012] From another perspective, the crane of the present invention preferably includes the following configuration: The information transmission device is comprised of a display device. The control device displays information related to the crane on the display device.

[0013] In the above configuration, the crane displays information, including the estimated extension and retraction time, to the operator using the display device, which is the information transmission device. The display device displays the information, including the estimated extension and retraction time, using at least one of the following: letters, numbers, colors, figures, etc. The crane can transmit visual information about the operation status of the pin-lock type telescopic boom, which is not visible from the outside, to the operator who is positioned within sight of the display device. This allows for improved work efficiency for the operator in collaborative work with the crane by transmitting the operation status of the pin-lock type telescopic boom, which moves multiple boom members with a single telescopic cylinder, to an operator other than the crane operator.

[0014] From another perspective, the crane of the present invention preferably includes the following configuration: The control device displays on the display device at least one of the following: information relating to the operating status of the pin-lock type telescopic boom and information relating to the load suspended from the pin-lock type telescopic boom.

[0015] In the above configuration, the crane displays on the display device information relating to the operation status of the pin-lock telescopic boom, in addition to the estimated extension and retraction time of the pin-lock telescopic boom, such as the current state of the pin-lock telescopic boom, the state of the pin-lock telescopic boom to be extended or retracted by the next extension or retraction operation, the length of the pin-lock telescopic boom, the working radius of the telescopic boom, the luffing angle of the pin-lock telescopic boom, and the slewing angle of the pin-lock telescopic boom. Alternatively, the crane displays on the display device information relating to the load suspended from the pin-lock telescopic boom, such as the weight of the load, the lifting height of the load, and the type of load, in addition to the estimated extension and retraction time of the pin-lock telescopic boom. The crane can communicate detailed information about the crane's operation to the operator. This improves the work efficiency of the operator in collaborative work with the crane by communicating the operation status of the pin-lock telescopic boom, which moves multiple boom members with a single telescopic cylinder, and the crane's operation to an operator other than the crane operator.

[0016] From another perspective, the crane of the present invention preferably includes the following configuration: The display device is provided in at least one of the front portion, left portion, right portion and rear portion of the cabin provided on the turntable.

[0017] In the above configuration, when the display device is located in the front part of the cabin facing the lifting and lowering positions of the suspended load, the information displayed on the display device is easily visible to the worker performing the rigging work and is therefore easily communicated to the worker. Furthermore, when the display device is located in the front, left, and right parts of the cabin, the information displayed on the display device is communicated to the worker by other display devices even if the display device moves as the cabin rotates. In addition, the information displayed on the display device is communicated to workers located to the side of the crane, etc., by the display devices provided in the front, left, and right parts of the cabin. This makes it possible to improve the work efficiency of workers in collaborative work with the crane by communicating the operating status of the pin-lock type telescopic boom, which moves multiple boom members with a single telescopic cylinder, to workers located around the crane.

[0018] The technical terms used herein are used solely for the purpose of defining specific embodiments and are not intended to limit the invention.

[0019] As used herein, "and / or" includes all combinations of one or more relatedly listed components.

[0020] In this specification, the use of “including,” “comprising,” or “having,” and variations thereof, identifies the presence of a described feature, process, element, component, and / or equivalent thereof, but may include one or more of the steps, operations, elements, components, and / or groups thereof.

[0021] As used herein, "attached," "connected," "coupled," and / or their equivalents are used in a broad sense and include both "direct and indirect" attachment, connection, and coupling. Further, "connected" and "coupled" are not limited to physical or mechanical connection or coupling and can include direct or indirect connection or coupling.

[0022] In this specification, embodiments of the crane according to the present invention will be described.

[0023] In the following description, numerous specific examples are set forth in order to provide a thorough understanding of the present invention. However, it will be clear to those skilled in the art that the present invention can be practiced without these specific examples.

[0024] Therefore, the following disclosure should be considered as illustrative of the present invention and is not intended to limit the present invention to the specific embodiments shown in the following drawings or description.

[0025] [Pin-lock type telescopic boom] As used herein, the pin-lock type telescopic boom means a telescopic boom that sequentially extends and retracts a plurality of boom members by a single actuator. The single actuator is configured to switch between a state where it is connected to any one of the plurality of boom members by a connecting pin and a separated state. The pin-lock type telescopic boom moves the boom member in the axial direction by extending and retracting the actuator while the actuator is connected to the boom member.

[0026] [Telescopic pattern] As used herein, the telescopic pattern means a combination of the boom members to be connected and the extension ratio of each boom member when connecting the single actuator to the plurality of boom members in the pin-lock type telescopic boom. The telescopic pattern is determined by a combination of the current telescopic length of the pin-lock type telescopic boom, the planned telescopic length to be changed, and the weight of the suspended load.

[0027] [Posture-related information] In this specification, posture-related information means information relating to the posture of the crane. The posture-related information includes, for example, the position of the crane, the slewing angle of the turntable of the crane, the elevation angle of the telescopic boom of the crane, the length of the telescopic boom of the crane, and information relating to the amount of wire rope extended from the crane.

[0028] [Information related to suspended loads] In this specification, "load-related information" means information relating to the load transported by the crane. The load-related information includes, for example, the type of load, the weight of the load, the load from the load applied to the telescopic boom, the position of the load relative to the crane per unit time, the amplitude of the swing relative to the crane, the direction of the swing relative to the crane, the period of the swing relative to the crane, a first position from which the load is lifted above the ground, a second position from which the load is lowered to the ground, and information relating to the transport path of the load. [Effects of the Invention]

[0029] According to one embodiment of the present invention, by communicating the operating status of a pin-lock type telescopic boom, which moves multiple boom members with a single telescopic cylinder, to a worker other than the crane operator, the work efficiency of the worker in collaborative work with the crane can be improved. [Brief explanation of the drawing]

[0030] [Figure 1] Figure 1 is a side view of a crane according to Embodiment 1 of the present invention. [Figure 2] Figure 2 is a control block diagram of a crane according to Embodiment 1 of the present invention. [Figure 3] Figure 3 is a schematic cross-sectional view showing the state in which the fourth boom member of the telescopic boom of the crane according to the present invention is moved in the extension direction from the fully retracted state. [Figure 4]Figure 4 is a schematic cross-sectional view showing the state in which the movable part of the extension hydraulic cylinder, which moves the fourth boom member in the extension direction, is moved to the retracted position in the extension boom of the crane according to the present invention. [Figure 5] Figure 5 is a schematic cross-sectional view showing the state in which the movable part of the extension hydraulic cylinder, which moves the third boom member in the extension direction, is moved to the retracted position in the extension boom of the crane according to the present invention. [Figure 6] Figure 6 is a graph showing the operation of the movable parts of the telescopic boom and the telescopic hydraulic cylinder in a crane according to Embodiment 1 of the present invention. [Figure 7] Figure 7 is a schematic diagram illustrating the information displayed on a display device in a crane according to Embodiment 1 of the present invention. [Modes for carrying out the invention]

[0031] [Embodiment 1] <Overall crane configuration> The crane 1 according to Embodiment 1 of the present invention will be described using Figures 1 to 3. Figure 1 shows the overall configuration of the crane 1 according to Embodiment 1 of the present invention. Figure 2 shows the control block diagram of the crane 1. Figure 3 is a schematic cross-sectional view showing the state in which the fourth boom member of the telescopic boom 9 of the crane 1 is moved in the extension direction from the fully retracted state.

[0032] In the following embodiments, we will describe Crane 1, which is a rough terrain crane (hereinafter simply referred to as "crane"). However, the crane can be any crane that transports a suspended load W by a wire rope supported by a telescopic boom, such as an all-terrain crane or a truck crane. In the following description, "operator" means the person operating the crane. In addition, "worker" means a person performing work around Crane 1, including rigging workers and site supervisors.

[0033] As shown in Figure 1, Crane 1 is a crane that can move to any location. Crane 1 includes a vehicle 2, a crane device 6, an input device 24 (see Figure 2), a display device 25, a communication device 26 (see Figure 2), and a control device 27 (see Figure 2).

[0034] Vehicle 2 is a mobile unit integrated with the crane device 6. Vehicle 2 is propelled by multiple wheels. Vehicle 2 is powered by engine 3. Engine 3 also drives a hydraulic pump 4 that supplies hydraulic fluid to the hydraulic actuator of crane 1. Vehicle 2 has outriggers 5. Outriggers 5 have outrigger hydraulic cylinders 5a.

[0035] The crane device 6 is a work device that lifts the load W using wire ropes. The crane device 6 is equipped with a turntable 7, a telescopic boom 9, a luffing hydraulic cylinder 14, a main hook block 15, a sub-hook block 16, a main wire rope 17, a sub-wire rope 18, a main winch 19, a sub-winch 20, a cabin 21, and the like.

[0036] The turntable 7 is a rotating device that rotates the crane device 6. The turntable 7 is mounted on the frame of the vehicle 2 via an annular bearing. The turntable 7 has a hydraulic motor 8 for rotation, which is an actuator. The turntable 7 rotates in one direction and in the other direction by the hydraulic motor 8.

[0037] The telescopic boom 9, which is a pin-lock type telescopic boom, is a movable support column that supports the main wire rope 17 and the sub-wire rope 18. The telescopic boom 9 has a plurality of cylindrical boom members, namely the first boom member 10a, the second boom member 10b, the third boom member 10c, and the fourth boom member 10d, a plurality of locking pins, namely the second locking pin 11b, the third locking pin 11c, and the fourth locking pin 11d, an actuator consisting of a telescopic hydraulic cylinder 12, a connecting pin 13 (see Figure 3), and a luffing hydraulic cylinder 14. The telescopic boom 9 is mounted on the turntable 7 so as to luff.

[0038] As shown in Figure 3, the telescopic boom 9 is arranged in the following order from the base end: first boom member 10a, second boom member 10b, third boom member 10c, and fourth boom member 10d. The first boom member 10a is supported on the turntable 7 so as to be raised and lowered. The first boom member 10a has fixing through holes (not shown) at its base end and tip end.

[0039] The second boom member 10b is positioned inside the first boom member 10a so as to move in its axial direction. The second boom member 10b has fixing through holes (not shown) at its base end and tip end, respectively. The second boom member 10b also has a connecting through hole (not shown) at its base end for connection.

[0040] The third boom member 10c is positioned inside the second boom member 10b so as to move in its axial direction. The third boom member 10c has fixing through holes (not shown) at its base end and tip end. The third boom member 10c also has a connecting through hole (not shown) at its base end for connection.

[0041] The fourth boom member 10d is positioned inside the third boom member 10c so as to move in its axial direction. The fourth boom member 10d also has a connecting through hole (not shown) at its base end for connection.

[0042] The second locking pin 11b is a pin that fixes the base end of the second boom member 10b to the base end or tip of the first boom member 10a. The second locking pin 11b is provided on the second boom member 10b. The second locking pin 11b is configured to switch between a fixed state (blacked-out portion in Figures 3-5) in which the second boom member 10b is fixed to the first boom member 10a by being inserted into the fixing through-hole of the first boom member 10a, and a released state (whited-out portion in Figures 3-5) in which it is not inserted into the fixing through-hole. In the fixed state, the second locking pin 11b is inserted into the fixing through-hole at the base end or tip of the first boom member 10a.

[0043] The third locking pin 11c is a pin that fixes the base end of the third boom member 10c to the base end or tip of the second boom member 10b. The third locking pin 11c is provided on the third boom member 10c. The third locking pin 11c is configured to switch between a fixed state (blacked-out portion in Figures 3-5) where it is fixed to the second boom member 10b by being inserted into the fixing through-hole of the second boom member 10b, and a released state (whited-out portion in Figures 3-5) where it is not inserted into the fixing through-hole.

[0044] The fourth locking pin 11d is a pin that fixes the base end of the fourth boom member 10d to the base end or tip of the third boom member 10c. The fourth locking pin 11d is provided on the fourth boom member 10d. The fourth locking pin 11d is configured to switch between a fixed state (blacked-out area in Figures 3-5) where it is fixed to the third boom member 10c by being inserted into the fixing through-hole of the third boom member 10c, and a released state (whited-out area in Figures 3-5) where it is not inserted into the fixing through-hole.

[0045] As shown in Figure 3, the telescopic hydraulic cylinder 12 extends and retracts the telescopic boom 9. More specifically, the telescopic hydraulic cylinder 12 moves the second boom member 10b, the third boom member 10c, and the fourth boom member 10d in their axial directions. The telescopic hydraulic cylinder 12 switches between a retracted position Pc, where the movable part (rod part) of the telescopic hydraulic cylinder 12 is most recessed into the fixed part (cylinder part), and an extended position Pe, where the movable part protrudes most from the fixed part. The telescopic hydraulic cylinder 12 is located inside the fourth boom member 10d. In other words, the telescopic hydraulic cylinder 12 is located inside the first boom member 10a, the second boom member 10b, the third boom member 10c, and the fourth boom member 10d.

[0046] The base end of the telescopic hydraulic cylinder 12 is connected to the base end of the first boom member 10a. A connecting pin 13 is provided in the movable part of the telescopic hydraulic cylinder 12. The connecting pin 13 is configured to switch between a connected state (blacked-out area in Figures 3-5) and an unconnected state (whited-out area in Figures 3-5) when connected to one of the connecting through holes located at the base ends of the second boom member 10b, the third boom member 10c, or the fourth boom member 10d. The telescopic hydraulic cylinder 12 moves one of the second boom member 10b, the third boom member 10c, or the fourth boom member 10d in the axial direction by means of the connecting pin 13.

[0047] The telescopic boom 9 configured in this way moves at least one of the second boom member 10b, the third boom member 10c, or the fourth boom member 10d by the repeated extension and retraction of the telescopic hydraulic cylinder 12. In this case, if other boom members are fixed to the boom member moved by the telescopic hydraulic cylinder 12, the telescopic boom 9 moves the boom member connected to the telescopic hydraulic cylinder 12 and the other boom members simultaneously.

[0048] As shown in Figure 1, the luffing hydraulic cylinder 14 is an actuator that luffs the telescopic boom 9. The luffing hydraulic cylinder 14 is configured to luff the first boom member 10a. The telescopic boom 9 also has a boom camera 9b, which is an imaging device for photographing the suspended load W, and a jib 9c, which is an extension member. The boom camera 9b (see Figure 2) is located at the tip of the telescopic boom 9.

[0049] The main hook block 15 and the sub-hook block 16 are components for suspending the load W. The main hook block 15 has multiple hook sheaves around which the main wire rope 17 is wound, and a main hook 15a for suspending the load W. The sub-hook block 16 has a sub-hook 16a for suspending the load W.

[0050] The main winch 19 is a device for raising and lowering the main wire rope 17. The sub-winch 20 is a device for raising and lowering the sub-wire rope 18.

[0051] The cabin 21 is an enclosure that covers the cockpit. The cabin 21 is mounted on the turntable 7. The cabin 21 is equipped with a cockpit (not shown). The cockpit is equipped with a driving control device 22 for operating the vehicle 2, a crane device control device 23 for the crane device 6, etc. (see Figure 2).

[0052] As shown in Figure 2, the input device 24 receives attitude-related information D1, which includes attitude information such as the target extension length, target elevation angle, and slewing angle of the telescopic boom 9, and load-related information D2, which includes information such as the type, weight, and lifting position of the suspended load W. The input device 24 is located in the cabin 21. The input device 24 is, for example, a terminal such as a touch panel. The operator inputs the attitude-related information D1 and load-related information D2 to the input device 24. The input device 24 outputs the input information to the control device 27.

[0053] The display device 25, which is an information transmission device, transmits information related to the crane 1 to the operator. The display device 25 transmits information by displaying characters, figures, colors, etc. on an LCD monitor or the like. The display device 25 is installed in the forward part of the cabin 21, which is the direction the operator in the cockpit is facing, and is oriented in the direction of boom extension. In other words, the display device 25 transmits various information to the operators around the crane 1. The display device 25 receives control signals from the control device 27. The display device 25 displays information on the display screen based on the received control signals.

[0054] The communication device 26 acquires various information from the outside. The communication device 26 is electrically connected to an external server S. The communication device 26 sends and receives various information to and from the server S. The communication device 26 acquires at least a portion of attitude-related information D1 and suspended load-related information D2 from the server S.

[0055] The control device 27 controls each actuator and the display device 25 of the crane 1. The control device 27 is located inside the cabin 21 (see Figure 1). In substance, the control device 27 consists of a CPU, ROM, RAM, HDD, etc., connected by a bus. Alternatively, the control device 27 is composed of a single-chip LSI, etc. The control device 27 controls the operation of each actuator, switching valve, communication device 26, etc., processes image data, and stores various programs and data in the display device 25 for use with the crane.

[0056] The control device 27 is connected to the boom camera 9b. The control device 27 continuously acquires the current image captured by the boom camera 9b at unit time intervals.

[0057] The control device 27 is electrically connected to the travel control device 22 and the crane device control device 23. Based on the operation signals input from the travel control device 22 and the crane device control device 23, the control device 27 generates control signals for the telescopic boom 9, including the hydraulic pump 4, the slewing hydraulic motor 8, the telescopic hydraulic cylinder 12 and the luffing hydraulic cylinder 14, the main winch 19 and the sub-winch 20. The control device 27 transmits the generated control signals to each actuator.

[0058] The control device 27 is electrically connected to the input device 24. The control device 27 acquires attitude-related information D1 and load-related information D2 of the crane 1 that are input to the input device 24. Based on the attitude-related information D1 and load-related information D2 acquired from the server S or the input device 24, the control device 27 generates control signals for the hydraulic pump 4, the slewing hydraulic motor 8, the telescopic hydraulic cylinder 12, the luffing hydraulic cylinder 14, the main winch 19, and the sub-winch 20.

[0059] The control device 27 is electrically connected to the display device 25. The control device 27 causes the display device 25 to display information. Based on the posture-related information D1 and the suspended load-related information D2, the control device 27 transmits control signals to display the estimated extension / retraction time T, which is the time required to extend or retract the telescopic boom 9 to a predetermined length, and information related to the suspended load.

[0060] The control device 27 is electrically connected to the communication device 26. The control device 27 acquires at least a portion of the attitude-related information D1 and the suspended load-related information D2 via the communication device 26. The control device 27 also transmits crane-related information to the server S, etc., via the communication device 26.

[0061] The crane 1, configured in this way, can move the vehicle 2 to any position by operating the travel control device 22. Furthermore, the crane 1 can transport the suspended load W to any position by rotating, luffing, and extending the telescopic boom 9 by operating the crane device control device 23. The crane 1 can also lift and lower the suspended load W using the main winch 19 or sub-winch 20 by operating the crane device control device 23. In addition, the crane 1 displays information such as the estimated extension / retraction time of the telescopic boom 9 on the display device 25 based on posture-related information D1 and suspended load-related information D2.

[0062] <Extending and retracting motion of the telescopic boom> Next, the extension and retraction operation of the telescopic boom 9 will be explained using Figures 3 to 6. Figure 3 is a schematic cross-sectional view showing the state in which the fourth boom member 10d has been moved in the extension direction from the fully retracted state of the telescopic boom 9. Figure 4 is a schematic cross-sectional view showing the state in which the movable part of the extension hydraulic cylinder 12, which has been moved in the extension direction of the fourth boom member 10d, has been moved to the retracted position Pc of the telescopic boom 9. Figure 5 is a schematic cross-sectional view showing the state in which the movable part of the extension hydraulic cylinder 12, which has been moved in the extension direction of the third boom member 10c, has been moved to the retracted position Pc of the telescopic boom 9. Figure 6 is a graph showing the operation of the telescopic boom 9 and the movable part of the extension hydraulic cylinder 12 in the crane 1. In this embodiment, the telescopic boom 9 is extended by the movement of the third boom member 10c and the fourth boom member 10d. The telescopic boom 9 moves the third boom member 10c and the fourth boom member 10d in the extension direction based on a control signal from the control device 27, which includes an extension and retraction pattern.

[0063] As shown in Figure 3, in the fully retracted state of the telescopic boom 9, which is the shortest overall length, the second boom member 10b, the third boom member 10c, and the fourth boom member 10d are located inside the first boom member 10a. The second boom member 10b is fixed to the first boom member 10a by a fixed second lock pin 11b. The third boom member 10c is fixed to the second boom member 10b by a fixed third lock pin 11c. The fourth boom member 10d is fixed to the third boom member 10c by a fixed fourth lock pin 11d. The movable part of the telescopic hydraulic cylinder 12, located in the retracted position Pc, is connected to the base end of the fourth boom member 10d by a connected connecting pin 13.

[0064] The control device 27 transmits control information calculated based on the extension / retraction pattern input by the operator to the input device 24 to the extension / retraction boom 9.

[0065] When the fourth boom member 10d is moved in the extension direction, the control device 27 transmits a control signal to the fourth lock pin 11d to switch it from a fixed state to a released state. The fourth lock pin 11d switches to a released state (white-painted portion) in which the base end of the fourth boom member 10d is not fixed to the base end of the third boom member 10c. As a result, the fourth boom member 10d can move relative to the third boom member 10c.

[0066] Next, the control device 27 transmits a control signal to the telescopic hydraulic cylinder 12 to move the movable part in the extension direction. The movable part of the telescopic hydraulic cylinder 12 moves together with the fourth boom member 10d, which is connected by the connecting pin 13, from the retracted position Pc to the extended position Pe. The fourth boom member 10d moves from the inside to the outside of the third boom member 10c. Once the movement of the movable part of the telescopic hydraulic cylinder 12 is complete, the control device 27 transmits a control signal to the fourth lock pin 11d to switch it to a fixed state. The fourth boom member 10d is fixed to the tip of the third boom member 10c by the fourth lock pin 11d, which has been switched to a fixed state (blacked-out part) while extended relative to the third boom member 10c. As a result, the tip of the telescopic boom 9, which is the tip of the fourth boom member 10d, moves from the fully retracted position P0 to the extended position P1.

[0067] As shown in Figure 4, the control device 27 transmits a control signal to the connecting pin 13 to switch it from the connected state (see Figure 3) to the released state. The connecting pin 13 switches to the released state (white-painted area) where the movable part of the telescopic hydraulic cylinder 12 is not connected to the base end of the fourth boom member 10d. The control device 27 transmits a control signal to the telescopic hydraulic cylinder 12 to move the movable part of the telescopic hydraulic cylinder 12 in the retraction direction. The movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the retracted position Pc. Once the movement of the movable part of the telescopic hydraulic cylinder 12 is complete, the control device 27 transmits a control signal to the connecting pin 13 to switch it to the fixed state. The movable part of the telescopic hydraulic cylinder 12 is connected to the base end of the third boom member 10c by the connecting pin 13, which is in the connected state (black-painted area).

[0068] Furthermore, when moving the third boom member 10c in the extension direction, the control device 27 transmits a control signal to the third lock pin 11c to switch it from a fixed state to a released state. The third lock pin 11c switches to a released state (white-painted portion) in which the base end of the third boom member 10c is not fixed to the base end of the second boom member 10b. As a result, the third boom member 10c can move relative to the second boom member 10b. The control device 27 transmits a control signal to the telescopic hydraulic cylinder 12 to move the movable part in the extension direction.

[0069] As shown in Figure 5, the movable part of the telescopic hydraulic cylinder 12 moves together with the third boom member 10c, which is connected by a connecting pin 13, from the retracted position Pc (see Figure 4) to the extended position Pe. The third boom member 10c moves from the inside to the outside of the second boom member 10b. When the movement of the movable part of the telescopic hydraulic cylinder 12 is complete, the control device 27 transmits a control signal to the third lock pin 11c to switch it to a fixed state. The third boom member 10c is then fixed to the tip of the second boom member 10b by the third lock pin 11c, which has been switched to a fixed state (blacked-out area) while extended relative to the second boom member 10b. As a result, the tip of the telescopic boom 9, which is the tip of the fourth boom member 10d, moves from position P1 to position P2, where the third boom member 10c is extended.

[0070] The control device 27 transmits a control signal to the connecting pin 13 to switch it from a connected state to a disconnected state. The connecting pin 13 switches to a disconnected state (not shown) in which the movable part of the telescopic hydraulic cylinder 12 is not connected to the base end of the third boom member 10c. The control device 27 transmits a control signal to the telescopic hydraulic cylinder 12 to move the movable part of the telescopic hydraulic cylinder 12 in the direction of contraction. The movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the contracted position Pc. Once the movement of the movable part of the telescopic hydraulic cylinder 12 is complete, the control device 27 transmits a control signal to the connecting pin 13 to switch it to a fixed state. The movable part of the telescopic hydraulic cylinder 12 is connected to the base end of the second boom member 10b by the connecting pin 13, which is in the connected state (not shown).

[0071] As shown in Figure 6, when the telescopic boom 9 extends the fourth boom member 10d, the telescopic hydraulic cylinder 12 (see Figure 3) moves the fourth boom member 10d from position P0 to position P1 between time t1 and time t2. The movable part of the telescopic hydraulic cylinder 12 moves from the retracted position Pc to the extended position Pe.

[0072] Next, the telescopic boom 9 moves the movable part of the extension hydraulic cylinder 12 from the extended position Pe to the retracted position Pc between time t2 and time t3. Therefore, none of the boom members of the telescopic boom 9 move between time t2 and time t3. At this time, the telescopic boom 9 appears to be stationary from the perspective of the operator.

[0073] When the telescopic boom 9 extends the third boom member 10c, the telescopic hydraulic cylinder 12 moves the fourth boom member 10d together with the third boom member 10c from position P1 to position P2 (see Figure 4) between time t3 and time t4. The movable part of the telescopic hydraulic cylinder 12 moves from the retracted position Pc to the extended position Pe.

[0074] Next, the telescopic boom 9 moves the movable part of the extension hydraulic cylinder 12 (see Figure 5) from the extended position Pe to the retracted position Pc between time t4 and time t5. Therefore, the telescopic boom 9 does not move its boom members between time t4 and time t5. At this time, the telescopic boom 9 appears to be stationary from the perspective of the operator.

[0075] Thus, when extending the fourth boom member 10d and the third boom member 10c of the telescopic boom 9, the telescopic boom 9 moves the third boom member 10c and the fourth boom member 10d between time t1 and time t2 and between time t3 and time t4. On the other hand, between time t2 and time t3 and between time t4 and time t5, the telescopic boom 9 moves the movable part of the extension hydraulic cylinder 12 independently, and does not move the third boom member 10c and the fourth boom member 10d. Therefore, from the perspective of the operator, the telescopic boom 9 appears to have stopped extending and retracting between time t2 and time t3 and between time t4 and time t5.

[0076] <Display by a display device> Next, using Figures 6 and 7, we will explain how information is provided by the display device when the third boom member 10c and the fourth boom member 10d are extended. Figure 7 is a schematic diagram illustrating the information displayed on the display device 25 in the crane 1.

[0077] The control device 27 calculates the estimated extension / retraction time T when the extension / retraction boom 9 is moved based on the extension / retraction pattern input by the operator to the input device 24. The control device 27 transmits a control signal to the extension / retraction boom 9 to control its movement, and transmits a control signal to the display device 25 to display information related to the crane 1, including the estimated extension / retraction time T.

[0078] As shown in Figure 7(A), the display device 25 displays, for example, the remaining time of the estimated stretching operation time T (see Figure 6) from time t1 to time t5 in various patterns.

[0079] As shown in Figure 7(B), the display device 25 displays, for example, the remaining time from time t1 to time t2 (see Figure 6), which is the movement time of the fourth boom member 10d (see Figure 3), when the fourth boom member 10d is extended. The display device 25 also displays the remaining time from time t2 to time t3 (see Figure 6) when the movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the retracted position Pc (see Figure 4). The display device 25 also displays the remaining time from time t3 to time t4 (see Figure 6), which is the movement time of the third boom member 10c (see Figure 5). The display device 25 also displays the remaining time from time t4 to time t5 (see Figure 6) when the movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the retracted position Pc (see Figure 5).

[0080] The crane 1, configured in this way, can communicate the operating status of the hydraulic cylinder 12 for extending and retracting the telescopic boom 9, which is not visible from the outside, to the operator via a display device 25. The display device 25 displays information related to the crane 1, including the estimated extension and retraction time T, using visual information that includes at least one of the following: letters, numbers, colors, figures, etc. The display device 25 is located in front of the cabin 21, facing the lifting and lowering positions of the suspended load W. Therefore, the information displayed on the display device 25 is easily communicated to the operator performing the rigging work.

[0081] The operator can recognize from the estimated extension / retraction time T displayed on the display device 25 that the extension / retraction hydraulic cylinder 12 is operating even when the extension / retraction boom 9 is not extended or retracted. Therefore, the operator does not feel impatient that their work will be delayed even if the crane 1 appears to be stopped. In addition, the operator can understand the time until the extension / retraction of the extension / retraction of the extension / retraction boom 9 is completed, so they can perform other tasks during the waiting time while the extension / retraction of the extension / retraction boom 9 is being extended or retracted. In this way, the operation status of the pin-lock type extension / retraction boom 9, which moves multiple boom members with a single extension / retraction hydraulic cylinder 12, is efficiently communicated to the operator through visual information, thereby improving the operator's work efficiency in collaborative work with the crane 1.

[0082] In addition, when the fourth boom member 10d is extended from time t1 to time t2, the display device 25 displays as relevant information regarding the operation status of the telescopic boom 9 that it is the process of extending the fourth boom member 10d. Furthermore, when the movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the retracted position Pc from time t2 to time t3, the display device 25 displays as relevant information regarding the operation status of the telescopic boom 9 that it is the process of the movable part of the telescopic hydraulic cylinder 12 moving independently from the extended position Pe to the retracted position Pc. Furthermore, when the third boom member 10c is extended from time t3 to time t4, the display device 25 displays as relevant information regarding the operation status of the telescopic boom 9 that it is the process of extending the third boom member 10c. Furthermore, when the movable part of the telescopic hydraulic cylinder 12 moves independently from the extended position Pe to the retracted position Pc between time t4 and time t5, the display device 25 displays, as relevant information regarding the operation status of the telescopic boom 9, that the movable part of the telescopic hydraulic cylinder 12 is moving independently from the extended position Pe to the retracted position Pc.

[0083] Crane 1 displays on the display device 25 information such as the estimated extension and retraction time T of the telescopic boom 9, as well as information related to Crane 1, including the current state of the telescopic boom 9, the state of the telescopic boom 9 when it will be extended or retracted by the next extension and retraction operation, the extended length of the telescopic boom 9, the working radius of the telescopic boom 9, the luffing angle of the telescopic boom 9, and the slewing angle of the telescopic boom 9. Alternatively, in addition to the estimated extension and retraction time T of the telescopic boom 9, Crane 1 displays on the display device 25 information related to the suspended load W that is suspended from the telescopic boom 9, including the weight of the suspended load W, the lifting height of the suspended load W, and the type of suspended load W. Crane 1 can communicate detailed information about the work being done by Crane 1 to the operator. This allows for improved work efficiency of operators other than the operator of Crane 1 by communicating the operating status of the telescopic boom 9 and the work being done by Crane 1.

[0084] <Other Embodiments> In the embodiment described above, the telescopic boom 9 has four boom members: a first boom member 10a, a second boom member 10b, a third boom member 10c, and a fourth boom member 10d. However, the telescopic crane may have three or fewer boom members, or five or more boom members.

[0085] Furthermore, in the above-described embodiment, the telescopic boom 9 has a telescopic hydraulic cylinder 12 as an actuator. However, the telescopic boom may also be an electric actuator such as an electric cylinder.

[0086] Furthermore, in each of the embodiments described above, the display device 25 displays the estimated extension / retraction operation time T, the time t1 to t2 for extending the fourth boom member 10d, the time t2 to t3 and t4 to t5 for the movable part of the extension / retraction hydraulic cylinder 12 to move independently from the extended position Pe to the retracted position Pc, and the time t3 to t4 for extending the third boom member 10c. However, the display device may also display information such as the crane's posture, the crane's work schedule, the crane operator's information, and information related to the suspended load.

[0087] Furthermore, in each of the embodiments described above, the crane 1 is provided with a display device 25 in front of the cabin 21 as an information transmission device. However, the crane may also have a portable terminal as the information transmission device. The portable terminal may be, for example, a portable terminal with a display device such as a smartphone carried by a worker around the crane. Alternatively, the portable terminal may be a portable terminal such as a communication device.

[0088] When the portable terminal with a display device is used as an information transmission device, the crane has a crane-side communication device that sends and receives information with the portable terminal with a display device. The portable terminal with a display device has a terminal-side communication device that sends and receives various information with the crane. The crane-side communication device is electrically connected to the control device of the crane. The control device transmits a control signal to the portable terminal with a display device via the crane-side communication device to display the estimated extension / retraction time, which is the time required to extend or retract the telescopic boom to a predetermined length, information related to the suspended load, and the like.

[0089] The portable terminal with the display device receives information regarding the estimated extension / retraction time and the suspended load via the terminal-side communication device. The portable terminal with the display device displays the information regarding the estimated extension / retraction time and the suspended load on the display device. The portable terminal with the display device also transmits various information, such as information regarding the transport position and the suspended load, to the crane via the terminal-side communication device. As a result, the worker carrying the portable terminal with the display device can obtain information regarding the estimated extension / retraction time and the suspended load even when it is difficult to see the display device in the cabin.

[0090] Furthermore, in each of the embodiments described above, the display device 25 is provided in the front part of the cabin 21, which is the direction the pilot in the cockpit is facing. However, the display device only needs to be provided in at least one location in the front, left, right, or rear part of the cabin. For example, in a crane having display devices in the front, left, and right parts of the cabin, even if the display device in the front part of the cabin becomes invisible to a worker positioned in front of the cabin due to the rotation of the cabin, information can still be transmitted to the worker by the display device in the left part of the cabin or the display device in the right part of the cabin. In addition, the crane can also transmit information to a worker positioned to the left or right of the cabin by the display device in the left part of the cabin or the display device in the right part of the cabin.

[0091] Furthermore, in each of the embodiments described above, the control device 27 calculates the estimated extension / retraction time T based on the extension / retraction pattern input from the input device 24. However, the control device may also be configured to calculate the extension / retraction pattern and the estimated extension / retraction time T based on posture-related information D1 or suspended load-related information D2.

[0092] Furthermore, in each of the embodiments described above, the control device 27 displays the estimated extension / retraction time T on the display device 25. However, the control device may be configured to display information other than information related to the extension boom on the display device. For example, the control device may display information related to the suspended load or information related to the work schedule (see Figure 7(C)).

[0093] Furthermore, in each of the embodiments described above, the control device 27 displays the estimated extension / retraction time T on the display device 25 using characters of a predetermined size. However, the control device may also be configured to change the size of the characters and the type of information displayed on the display device based on the posture of the extension / retraction boom. For example, if the control device determines that the position of the suspended load is far from the display device based on the posture of the extension / retraction boom, it increases the size of the characters displayed on the display device. In other words, the control device estimates the distance from the display device to the rigger based on the posture of the extension / retraction boom and displays characters and information corresponding to the estimated distance on the display device.

[0094] The embodiments described above are merely representative examples and can be implemented in various ways without departing from the core principles of one embodiment. Of course, it can be implemented in many more forms, and the scope of the present invention is defined by the claims, and further includes all modifications within the meaning and scope of equivalents as defined in the claims.

[0095] Furthermore, in each of the embodiments described above, the control device 27 displays the estimated extension / retraction time T on the display device 25. However, the control device may also be configured to switch the information related to the crane on the display device at predetermined intervals. [Explanation of Symbols]

[0096] 1 Crane 2 vehicles 3 Engines 4. Hydraulic pump 5 Outriggers 6. Crane equipment 7 Turntable 8. Hydraulic motor for slewing 9. Telescopic boom 9b Boom Camera 9c jib 10a First boom member 10b Second boom member 10c Third boom member 10d Fourth boom member 11b Second locking pin 11c Third locking pin 11d 4th locking pin 12. Telescopic hydraulic cylinder 13 Connecting pins 14. Hydraulic cylinder for luffing 15 Main Hook Block 15a Main Hook 16 Sub-hook block 16a Sub-hook 17 Main wire rope 18 Subwire rope 19 Main winch 20 Sub-winch 21 Cabins 22. Driving controls 23. Operating tools for crane equipment 24 Input devices 25 Display device 26 Communication equipment 27 Control device P0 Position of the fourth boom member in the fully retracted state P1 Position of the fourth boom member when the fourth boom member is extended. P2 Position of the fourth boom member when the third and fourth boom members are extended. The position of the movable part that is most deeply embedded within the fixed part of the Pc telescopic hydraulic cylinder. The position of the movable part that protrudes the furthest from the fixed part of the PE telescopic hydraulic cylinder. T Estimated stretching operation time t1, t2, t3, t4, t5 Elapsed time of the boom member during operation W Suspended load

Claims

1. The car body and, A turning platform is provided on the vehicle body so as to rotate, A pin-lock type telescopic boom is provided on the aforementioned turntable to be raised and lowered, and has a plurality of boom members and a single actuator that switches between a state in which it is connected to one of the plurality of boom members by a connecting pin and a state in which it is separated, and the boom member is moved in the axial direction by extending and retracting the actuator when it is connected to the boom member, An input device for inputting an extension / retraction pattern which is a combination of the amount of movement of each of the multiple boom members in the pin-lock type telescopic boom, A crane having a control device that calculates the estimated extension and retraction time when the pin-lock type telescopic boom is moved based on the extension and retraction pattern input from the input device, The system includes an information transmission device that transmits information related to the crane to workers other than the crane operator, The control device is The estimated extension and retraction time is calculated, and information related to the crane, including the estimated extension and retraction time, is transmitted to the operator by the information transmission device. crane.

2. In the crane according to claim 1, The information transmission device is It consists of a display device, The control device is The display device displays information related to the crane. crane.

3. In the crane according to claim 2, The control device is The display device displays at least one of the following: information related to the operating status of the pin-lock type telescopic boom and information related to the load suspended from the pin-lock type telescopic boom. crane.

4. In the crane according to claim 2, The aforementioned display device is At least one of the front, left, right, and rear portions of the cabin provided on the aforementioned turntable is provided, crane.

Images