Winch drum monitoring device and crane

Abstract

This enables more accurate detection of winding layers and winding rows on a winch drum. [Solution] A winch drum monitoring device for monitoring the state of a winch drum 361, comprising: a phase detection means 628 for detecting a predetermined phase which is a part of the circumferential direction of the entire circumference of the winch drum 361; and a distance detection means 628 for detecting the distance to the winch drum 361 or the distance to the wire rope 32 wound around the winch drum 361 at the predetermined phase. The distance detection means is a laser beam scanning type distance measuring device that uses a two-dimensional plane as the detection plane. The winch drum 361 has a winding body 362 and flange portions 363 and 364 provided on both sides of the winding body 362. The flange portions have a phase determination portion 366 in at least a part of them, and the phase detection means detects the phase of the winch drum by detecting the phase determination portion.

Description

Technical Field

[0001] The present invention relates to a winch drum monitoring device and a crane.

Background Art

[0002] In a working machine such as a crane that winds and unwinds a wire with a winch drum, it has been conventionally proposed to detect the state of the winch drum using a laser scanning distance measuring device such as LiDAR (Light Detection and Ranging) (see, for example, Patent Document 1).

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, in the above-mentioned prior art, only the application of a laser scanning distance measuring device such as LiDAR has been proposed, and it has been difficult to specifically detect winding layers and winding rows with high accuracy.

[0005] An object of the present invention is to detect winding layers and winding rows of a winch drum with higher accuracy.

Means for Solving the Problem

[0006] The present invention provides: A winch drum monitoring device that monitors a state of a winch drum, comprising: phase detection means for detecting a specified phase that is a part of the entire circumference of the winch drum in the circumferential direction; and distance detection means for detecting a distance to the winch drum or a distance to a wire rope wound around the winch drum at the specified phase, The distance detection means is a laser beam scanning type distance measuring device that uses a two-dimensional plane as the detection plane, The winch drum has a winding section around which the wire rope is wound and flange sections provided on both sides of the winding section. The flange portion has a phase determination section in at least a part of it, The phase detection means is configured to detect the phase of the winch drum by detecting the phase determination unit. [Effects of the Invention]

[0007] According to the present invention, it becomes possible to detect the winding layers and winding rows of a winch drum with higher precision. [Brief explanation of the drawing]

[0008] [Figure 1] This is a side view of a crane equipped with a winch drum monitoring device according to an embodiment of the present invention. [Figure 2] This is a block diagram showing the configuration of a crane control device and its surrounding area. [Figure 3] This is a perspective view showing the arrangement of the distance measuring device and winch drum. [Figure 4] Figure 4(A) is a front view of the winch drum viewed from the radial direction, Figure 4(B) is a side view viewed from the central axis direction, and Figure 4(C) is a partial enlargement view. [Figure 5] This diagram shows the distance detection results for the winch drum using a distance measuring device. [Figure 6] This diagram shows the normalized values ​​for each phase of the winch drum. [Figure 7] This diagram shows the normalized values ​​detected for each phase during one rotation of the winch drum. [Figure 8] This is a flowchart of the monitoring process performed by the monitoring processing unit. [Figure 9] This figure shows an example of a display screen in a display device that shows operational information such as various setting values ​​and detected values ​​for a crane. DESCRIPTION OF EMBODIMENTS

[0009] Outline of Crane Figure 1 is a side view of a crane as a working machine equipped with a winch drum monitoring device according to an embodiment of the present invention. The crane 1 is a so-called mobile crawler crane. For the description of the crane 1, the forward direction of the vehicle is defined as "front", the reverse direction is defined as "rear", the left hand side when facing forward is defined as "left" (the back side of the paper plane of Figure 1), and the right hand side is defined as "right" (the front side of the paper plane of Figure 1). The crane 1 includes a lower traveling body 2 that travels and an upper rotating body 3 that rotates on the lower traveling body 2. Unless otherwise specified, the directions of respective parts are described on the principle that the lower traveling body 2 and the upper rotating body 3 are in a state where their front-rear directions coincide (referred to as the reference posture).

[0010] As shown in Figure 1, the crane 1 includes a self-propelled crawler-type lower traveling body 2, an upper rotating body 3 pivotably mounted on the lower traveling body 2, and a boom 4 hoistably attached to the front side of the upper rotating body 3.

[0011] The lower traveling body 2 includes a main body 21 and crawlers 22 provided on both left and right sides of the main body 21. The left and right crawlers 22 are each rotationally driven by a traveling hydraulic motor (not shown).

[0012] The boom 4 is hoistably attached to the front side of the upper rotating body 3. A sheave 43 for guiding a hoisting rope 32 as a wire rope is rotatably attached near the upper tip of the boom 4. Further, a lower end portion of a mast 31 is supported on the upper rotating body 3 at a position rearward of the boom 4. Further, the upper rotating body 3 is driven to rotate about a vertical axis relative to the lower traveling body 2 by a rotating hydraulic motor (not shown).

[0013] A cab 33 is disposed on the right front side of the upper rotating body 3. Further, a counterweight 5 for balancing the weight of the boom 4 and the suspended load L is attached to a rear portion of the upper revolving superstructure 3. The number of counterweights 5 can be increased or decreased as necessary.

[0014] Near the counterweight 5, a luffing winch 42 configured to perform luffing operation of the boom 4 is disposed, and on a front side of the luffing winch 42, a hoisting winch 36 configured to wind and unwind a hoisting rope 32 is disposed. The hoisting winch 36 winds and unwinds the hoisting rope 32 by a hoisting hydraulic motor (not shown) to lift and lower the hook 34 and the suspended load. The detailed configuration of a winch drum 361 used for the hoisting winch 36 will be described later.

[0015] The mast 31 includes an upper spreader 35 at an upper end portion thereof, and the upper spreader 35 is connected to the other end of a pendant rope 44 having one end connected to an upper end portion of the boom 4. A lower spreader (not shown) is provided below the upper spreader 35, and when a luffing rope 37 serving as a wire rope wound around a plurality of times between the upper spreader 35 and the lower spreader is wound or unwound by the luffing winch 42, a distance between the upper spreader 35 and the lower spreader changes to cause the boom 4 to luff. The luffing winch 42 is driven by a luffing hydraulic motor (not shown).

[0016] [Crane Control System] A control device 60 of the crane 1 is mounted on the cab 33 or the like of the upper revolving superstructure 3. FIG. 2 is a block diagram showing the configuration of the control device 60 and the periphery thereof. The control device 60 is a control terminal mounted on the crane 1, and in addition to controlling various operations of the crane 1 such as traveling, revolving, winding and unwinding of the hoisting rope 32, the control device 60 performs monitoring processing for winding and unwinding of the hoisting rope 32 by the hoisting winch 36. The control device 60 includes a controller 61 configured to include an arithmetic processing device having a CPU, a ROM and a RAM serving as storage devices, and other peripheral circuits. The controller 61 includes a software module for a monitoring processing unit 611 that performs monitoring processing for the winding and unwinding of the hoisting rope 32, which will be described later. The monitoring processing unit 611 may also be configured as hardware.

[0017] The controller 61 is connected to an input unit 621, a display device 622, an operating lever 624, and a memory 625, and these together constitute the control device 60. Furthermore, the controller 61 is connected to a load cell 631, a boom angle sensor 632, a slewing amount sensor 633, a control valve 635, and a distance measuring device 628.

[0018] The monitoring processing unit 611, distance measuring device 628, and display device 622 described above constitute a winch drum monitoring device that monitors the state of the winch drum 361 of the hoisting winch 36. Details of the functions of the monitoring processing unit 611 will be described later.

[0019] The input unit 621 is located inside the cab 33 and is, for example, an input interface such as a touch panel, which outputs control signals to the controller 61 in response to operations from the operator. The operator can use the input unit 621 to input various settings and controls necessary for operation, such as the length of the boom 4 and the weight of the hook 34. The display device 622 is located inside the cab 33 and includes a touch-panel display that is also used as an input unit 621, for example. Based on control signals output from the controller 61, it displays information such as the weight of the suspended load, the boom angle, and the slewing angle of the upper slewing body 3 on the display screen. The display device 622 also functions as a notification means that provides notification by display via the monitoring processing unit 611, which will be described later.

[0020] The operating lever 624 is located inside the cab 33 and, for example, manually inputs operations to cause the crane 1 to perform various actions, and inputs a control signal corresponding to the amount of operation of the operating lever 624 to the controller 61. For example, the operating lever 624 can be used to input operations for the movement of the lower traveling body 2, the rotation of the upper slewing body 3, the luffing and lowering of the boom 4, and the winding and unwinding of the hoisting rope 32 by the hoisting winch 36.

[0021] The load cell 631 is attached to the end of the luffing rope 37, which is wrapped multiple times around the upper spreader 35 and the lower spreader. It detects the tension acting on the luffing rope 37 when the boom 4 is raised and lowered, and outputs a control signal corresponding to the detected tension to the controller 61. The load cell 631 can be placed anywhere as long as it can indirectly measure the luffing force of the boom 4. For example, it may be installed at the attachment point (not shown) of the pendant rope 44 at the tip of the boom 4 to detect the tension on the pendant rope 44.

[0022] The boom angle sensor 632 is attached to the base end of the boom 4 and detects the elevation angle of the boom 4 (hereinafter also referred to as the boom angle), and outputs a control signal corresponding to the detected boom angle to the controller 61. The boom angle sensor 632 detects, for example, the angle to the ground, which is the angle with respect to the horizontal plane, as the boom angle.

[0023] The rotation amount sensor 633 is installed between the lower traveling body 2 and the upper rotating body 3, and detects the rotation angle of the upper rotating body 3 and outputs a control signal corresponding to the detected rotation angle to the controller 61. The rotation amount sensor 633 detects the angle around the vertical axis as the rotation angle, for example.

[0024] The control valve 635 consists of multiple valves that can be switched according to a control signal from the controller 61. For example, the control valve 635 includes valves that control the rotational drive of the left and right crawlers 22 of the lower traveling body 2, valves that control the rotational movement of the upper rotating body 3, valves that control the rotational drive of the luffing winch 42, and valves that control the rotational drive of the hoisting winch 36.

[0025] [Distance measuring device] The distance measuring device 628 is a distance detection means that detects the distance between the winch drum 361 of the hoisting winch 36 or the hoisting rope 32 wound around the winch drum 361, and detects the layer arrangement of the hoisting rope 32 wound around the winch drum 361. The layering configuration of the hoisting rope 32 refers to the number of layers and rows of the hoisting rope 32 that are stacked and wound around the winch drum 361. Furthermore, the position where the hoisting rope 32 of the winch drum 361 begins to separate from the winding drum (winding section) 362 around which it is wound is referred to as the "rope payout section (reference numeral 365 in Figure 4)". Therefore, the layer arrangement of the hoisting rope 32 indicates which layer and which row the rope payout section 365 of the hoisting rope 32 is located in.

[0026] In this embodiment, a laser-scanning distance measuring device such as LiDAR is exemplified as the distance measuring device 628. The distance measuring device 628 uses a detection plane (layer) that is a two-dimensional, sector-shaped plane with a predetermined radius, extending to the left and right within a predetermined angle range, with a predetermined straight line of predetermined length pointing in front of the device 628. The distance measuring device 628 can detect the distance from the device 628 to the object scanned by the laser within the range of this layer.

[0027] Figure 3 is a perspective view showing the arrangement of the distance measuring device 628 and the winch drum 361. It is preferable to install the distance measuring device 628 on the crane 1 such that the front of the device faces radially toward the winch drum 361 and the central axis c of the winch drum 361 is flush with the layer of the distance measuring device 628. It is not essential that the central axis c of the winch drum 361 be in the plane of the layer of the distance measuring device 628. The distance measuring device 628 only needs to be positioned so as to scan the outer surface of the winding drum 362, which will be described later, along the entire length of the axial plane of the winch drum 361, and it is more preferable that the layer be located close to the central axis c of the winch drum 361.

[0028] Furthermore, the distance measuring device 628 only needs to be able to detect the distance to the hoisting rope 32 wound around the winch drum 361 over the entire axial range along the central axis c, and is not limited to laser scanning type sensors such as LiDAR; other distance sensors can also be used.

[0029] [Winch Drum] Figure 4(A) is a front view of the winch drum 361 viewed from the radial direction, Figure 4(B) is a side view viewed from the central axis direction, and Figure 4(C) is a partial enlargement view. As shown in Figure 4(A), the winch drum 361 has a winding drum 362 around which the hoisting rope 32 is wound, and two flange-shaped portions 363 and 364 provided at both ends of the winding drum 362, and is supported so as to be rotatable around a central axis. The hoisting rope 32 can be wound sequentially around the winding drum 362 of the winch drum 361 from one flange portion 363 to the other flange portion 364, and this is repeated in a stacking manner to form layers. In other words, the number of layers of the hoisting rope 32 in the radial direction is the "number of layers" in the "layered state". Also, the number of turns of the outermost hoisting rope 32 wound from the end to the rope payout portion 365 is the "number of rows" in the "layered state". The rope payout section 365 refers to the portion of the outermost layer of the winding rope 32 that is pulled out away from the winding drum 362.

[0030] When winding the hoisting rope 32 with the winch drum 361, once one layer of the hoisting rope 32 is wound from one flange portion 363 to the other flange portion 364, the next layer is wound by folding it back and winding another layer of the hoisting rope 32 from the other flange portion 364 to the one flange portion 363. This process is repeated alternately to wind up multiple layers of the hoisting rope 32. Therefore, in odd-numbered layers of the hoisting rope 32, the first row is on the side of one flange portion 363 (the right flange portion 363 in the example of Figure 4(A)), and in even-numbered layers, the first row is on the side of the other flange portion 364 (the left flange portion 364 in the example of Figure 4(A)).

[0031] Furthermore, a phase determination unit 366 is provided on the outer circumference of one flange portion 363 for the distance measuring device 628 to detect a specified phase. In this case, the distance measuring device 628 also functions as a phase detection means for detecting the phase determination unit 366. The outer circumference of the flange portion 363 is a uniform circle with a circular outer diameter in the circumferential direction, except for the phase determination portion 366, which has a shape that is either convex or concave compared to the other parts. Therefore, when the distance of the outer circumference of the flange portion 363 of the rotating winch drum 361 is detected by the distance measuring device 628, the distance measurement value will fluctuate when the phase determination portion 366 passes over the layer. This fluctuation in the distance measurement value makes it possible to detect that the winch drum 361 is in a specified phase. In the following example, the case in which the phase determination portion 366 has a concave shape compared to the other parts is given.

[0032] The monitoring processing unit 611, described later, acquires the layer arrangement state of the hoisting rope 32 based on the distance measurement value detected by the distance measuring device 628 at a predetermined phase indicated by the phase determination unit 366. In this case, it is preferable that the phase indicated by the phase determination unit 366 avoids the phase range of the rope payout unit 365, which is the position where the hoisting rope 32 begins to separate from the winding drum 362 or the hoisting rope 32 wound around the winding drum 362. The phase of the rope payout unit 365 varies depending on the elevation angle of the boom 4. Since the elevation angle of the boom 4 can vary within the range of elevation angles in the working posture for lifting loads (for example, 30 to 80° for crane specifications, and 60 to 90° for tower specifications), it is preferable that the phase indicated by the phase determination unit 366 avoids the phase range of the rope payout unit 365 corresponding to the range of elevation angles in the working posture for lifting loads, and it is even more preferable to avoid the phase range of the entire elevation angle range from the limit of the crane's elevation angle to the position where the boom becomes horizontal (for example, 0 to 90°), including the elevation angle range used in the idle position and during the lowering operation during disassembly and assembly. If the phase indicated by the phase determination unit 366 is positioned within the range of the rope payout unit 365, the distance measuring device 628 will also detect the distance from the winding drum 362 or the hoisting rope 32 wound on the winding drum 362 to the rope payout unit 365, which is in a state of undulation and separation. The rope payout unit 365 may move or vibrate due to the payout operation, which may cause fluctuations in the distance detected by the distance measuring device 628. Therefore, by positioning the phase determination unit 366 to avoid the range of the rope payout unit 365, it becomes possible to perform stable distance detection with minimal fluctuations.

[0033] Here, as shown in Figure 4(C), since the phase determination unit 366 has a constant length in the circumferential direction, the detection of the phase determination unit 366 by the distance measuring device 628 extends over a certain period of time. For example, if the distance measuring device 628 performs detection continuously with a very short sampling period, it is possible that multiple distance measurements can be obtained during the period in which the phase determination unit 366 is detecting. In that case, the average of multiple distance measurements may be treated as the distance measurement at a specified phase. Alternatively, the distance measurement detected at a timing tc midway between the detection start timing t1 and detection end timing t2 of the phase determination unit 366 by the distance measuring device 628 may be considered as the distance measurement at a specified phase to determine the layer arrangement of the hoisting rope 32.

[0034] Furthermore, the flange portion 363 of the winch drum 361 is fitted with a cover 367 that covers the outer circumference to prevent contact with the outside. The cover 367 is fixedly attached to the crane 1 side relative to the rotating flange portion 363. Furthermore, an opening 368 is formed at the position where the layers of the distance measuring device 628 intersect in the cover 367, exposing the phase determination unit 366 to the outside. This opening 368 is wider than the entire width of the flange portion 363 and longer than the circumferential length of the phase determination unit 366. Therefore, it does not interfere with the detection of the phase determination unit 366 by the distance measuring device 628.

[0035] The other flange portion 364 is formed in a shape that periodically repeats a certain shape (for example, a roughly polygonal shape, a roughly gear shape, etc.) in order to brake the winch drum 361. If a phase determination unit 366 is provided in the flange portion 364, it is preferable that the depth of the flange portion 364 is set to be inside the range that the outer diameter of the flange portion 364 can take (or, in the case of a convex shape, to be a protrusion amount that is outside the range that can take).

[0036] [Monitoring process] The monitoring process performed by the monitoring processing unit 611 of the controller 61 will now be described. The monitoring processing unit 611 performs monitoring processing to determine the number of layers and rows of the hoisting rope 32 wound around the winch drum 361 based on the distance detection result for the winch drum 361 by the distance measuring device 628.

[0037] The distance measuring device 628 performs a laser scan within the layer containing the central axis c of the winch drum 361, moving from the radially outer side of the winch drum 361 towards the radially inner side. This measures the distance to the outer surface of the hoisting rope 32 wound on the winding drum 362 at each position where there is a small gap along the axial direction between one flange portion 363 and the other flange portion 364. Figure 5 is a diagram showing the distance detection results for the winch drum 361 by the distance measuring device 628.

[0038] In Figure 5, the horizontal axis represents the position along the axial direction of the central axis c of the winch drum 361, and the vertical axis represents the detection distance to the outer circumference of the winch drum 361 at each position along the axial direction of the central axis c. In the distance detection results shown, section A1 represents the flange portion 363, section A2 represents the outer surface of the winding drum 362 on which the hoisting rope 32 is not wound. Furthermore, section A3 represents the outer circumference of the hoisting rope 32 wound in layers around the winding drum 362, and section A4 represents the flange portion 364.

[0039] To determine the number of layers and rows of the hoisting rope 32, the detection distance in sections A2 and A3 between flange sections 363 and 364 is required. On the other hand, since the flange portions 363 and 364 have inner surfaces aligned with the direction of distance detection, a sharp increase or decrease in the detection distance occurs in sections A1 and A4. Therefore, the monitoring processing unit 611 determines a threshold for the rate of change (slope) of distance detection at each axial position for the distance detection information detected by a single scan, and detects sections A1 and A4. From this, the monitoring processing unit 611 can extract distance detection information for sections A2 and A3, which are between sections A1 and A4, i.e., between flange section 363 and flange section 364.

[0040] Furthermore, a phase determination unit 366 is provided in the flange portion 363. This phase determination unit 366 can be determined from the distance detected at the end of section A1 (the lower end of section A1 in Figure 5). As mentioned above, in section A1, a rapid increase in detection distance occurs due to the flange portion 363, and the phase determination unit 366 can be detected from the detection distance at the time this rapid increase occurs.

[0041] As mentioned above, the phase determination unit 366 has a concave shape towards the center of the winch drum 361. Therefore, the value of the detected distance at the starting position of the rapid increase in the detected distance in section A1 detected by the distance measuring device 628 is greater for the phase determination unit 366 than for the outer circumference of the other flange portion 363. Accordingly, the monitoring processing unit 611 sets a threshold for the distance detected at the start position of section A1, and if it is greater than or equal to the threshold, it determines that it is the specified phase indicated by the phase determination unit 366, and if it is less than the threshold, it determines that it is a phase other than the specified phase.

[0042] Furthermore, when the monitoring processing unit 611 acquires distance detection information between flange portion 363 and flange portion 364, it normalizes the detection information within sections A2 and A3. For example, as a normalization process, the monitoring processing unit 611 calculates an integrated value by summing the detected distances at each axial position that constitutes the distance detection information between flange portion 363 and flange portion 364. Alternatively, it may calculate the average value of the detected distances at each axial position. Hereinafter, these calculated values ​​will be referred to as "normalized values".

[0043] Figure 6 is a graph showing the normalized values ​​for each phase (rotation angle) of the winch drum 361. The horizontal axis of the graph represents the phase of the winch drum 361, and the vertical axis represents the normalized values. The phase of the winch drum 361 is defined as 1 / 12 of a full rotation. Figure 6 shows the changes in the normalized values ​​for each phase when the winch drum 361 rotates three times. As the winch drum 361 rotates three times, the number of turns of the hoisting rope 32 increases by three rows. Therefore, the diagram in Figure 6 shows a gradual decrease in the normalized value due to the gradual increase in the outer diameter, including the hoisting rope 32 wound around the winding drum 362.

[0044] Figure 7 is a diagram showing the normalized values ​​detected for each of the 12 equally divided phases in one rotation of the winch drum 361. In Figure 7, diagram L1 shows the normalized value for one rotation in which the nth row of the hoisting rope 32 is wound (indicated by ● dots), diagram L2 shows the normalized value for one rotation in which the (n+1)th row is wound (indicated by ▲ dots), and diagram L3 shows the normalized value for one rotation in which the (n+2)th row is wound (indicated by ■ dots). Note that the number of layers of the hoisting rope 32 wound on the winch drum 361 is assumed to be the same in each of the diagrams L1 to L3.

[0045] Comparing diagrams L1 to L3 in Figure 7, it is evident that the normalized values ​​are individual values ​​depending on the number of rows of the hoisting rope 32 on the winch drum 361. In this case, it can be seen that the normalized values ​​for each of the 12 equally divided phases do not coincide for each number of rows. Furthermore, it is clear that the normalized values ​​will differ even more significantly if the number of layers of the hoisting rope 32 on the winch drum 361 is different. In other words, in order to determine the number of layers and rows from the normalized values, it is necessary to determine the phase of the drum.

[0046] The monitoring processing unit 611 has previously performed distance detection using the distance measuring device 628 at a predetermined phase for each number of layers and rows of the hoisting rope 32 of the winch drum 361, obtained the eigenvalues ​​of the normalized processed values ​​for each number of layers and rows, and stored them as reference values. The monitoring processing unit 611 then detects the distance using the distance measuring device 628 when the rotating winch drum 361 reaches a specified phase while the hoisting winch 36 is in use, and derives normalized values ​​from the detected data. The normalized values ​​derived then compare with reference values ​​of normalized values ​​prepared for each number of layers and rows, and perform a process to identify the current number of layers and rows of the hoisting rope 32 from the closest reference value. Furthermore, the monitoring processing unit 611 can recognize a specific phase of the winch drum 361 for which distance detection should be performed by detection by the aforementioned phase determination unit 366 of the winch drum 361.

[0047] Figure 8 is a flowchart of the monitoring process performed by the monitoring processing unit 611. As shown in the figure, when the winch drum 361 rotates (step S1), the monitoring processing unit 611 performs a laser scan with the distance measuring device 628 and detects the phase determination unit 366 (step S3). Then, when the phase determination unit 366 is detected, the distance measuring device 628 performs distance detection and acquires detection information for the winch drum 361 (step S5).

[0048] Next, the monitoring processing unit 611 extracts detection information for sections A2 and A3 between flange portion 363 and flange portion 364 from the detection information at a predetermined phase, and then calculates a normalized value by accumulating the distances at each position (step S7). Furthermore, the monitoring processing unit 611 compares the derived normalized values ​​with reference values ​​of normalized values ​​indicating the number of layers and rows of the hoisting rope 32 in the winch drum 361, and identifies the number of layers and rows (layer and row state) of the hoisting rope 32 indicated by the derived normalized values ​​(step S9). Then, the monitoring processing unit 611 displays the identified layer information on the display device 622 (step S11) and terminates the monitoring process.

[0049] Figure 9 shows an example of a display screen G in the display device 622 that displays operational information such as various set values ​​and detected values ​​for the crane 1. In the process of step S11 described above, the monitoring processing unit 611 displays the identified layer information on the display screen G. A layer information display unit W is provided at the bottom center of the display screen G, where the layer information identified by the monitoring process described above is displayed. The layer information display unit W also displays the total number of layers wrapped in each layer, next to the number of layers based on the measurement.

[0050] Furthermore, the monitoring process is not limited to ending with the display of the layer information of the hoisting rope 32; other status monitoring may be performed based on the acquired layer information. For example, when the winch drum 361 has unwound the hoisting rope 32 to the last remaining layer, strong friction occurs between the winding drum 362 and the hoisting rope 32, so operation to avoid this may be required. Therefore, when the acquired layer sequence information reaches the last remaining layer or approaches the first layer (when only a few layers remain until the first layer), notification processing may be performed by means recognizable to the operator, such as display on the display device 622, display on a separately provided notification lamp, or output by sound from the sound output unit.

[0051] For example, in the display screen G of Figure 9, within the two frames above the layer information display section W, a first icon N1 is displayed, indicating that the wear occurrence condition is met when winding or unwinding occurs in the first layer, and a second icon N2 is displayed, indicating that the wear occurrence condition is met when the cumulative value of the winding length and unwinding length in the first row, where the hoisting rope 32 makes sliding contact with the flange portions 363 and 364, exceeds a threshold value, and notification processing is performed by displaying these icons.

[0052] [Technical Effects of Embodiments of the Invention] As described above, the monitoring device is equipped with a distance measuring device 628 that detects the phase of the winch drum 361 and the distance to the winch drum 361. By using these two pieces of detected information, it becomes possible to acquire layer information with higher accuracy. In particular, the monitoring device determines the number of layers and rows of the hoisting rope 32 wound around the winch drum 361 based on the detection by the distance measuring device 628, making it possible to clearly obtain the necessary information. Furthermore, since the distance measuring device 628 detects distance within a range that includes the entire axial length of the winding drum 362, it becomes possible to more accurately determine the number of layers and rows of the hoisting rope 32 wound around the winch drum 361. Furthermore, the required number of layers and rows of the hoisting rope 32 are displayed on the display device 622, so this information can be clearly shown to the operator and recognized quickly.

[0053] Furthermore, the monitoring device notifies the operator that wear is occurring between the winch drum 361 and the hoisting rope 32 when the number of layers of the hoisting rope 32 wound around the winch drum 361 is the first layer, based on the detection by the distance measuring device 628. This makes it possible for the operator to accurately recognize the occurrence of wear on the winch drum 361 caused by the hoisting rope 32.

[0054] Furthermore, the winch drum 361 has flange portions 363 and 364 on both sides of the winding drum 362, and one flange portion 363 has a phase determination portion 366 on its radially outer circumference that is convex or concave relative to the other portion in the circumferential direction. Therefore, the process of acquiring layer information by detecting the distance of the hoisting rope 32 only needs to be performed when the phase determination unit 366, which is provided in a part of the circumferential direction, detects the phase, and it is not necessary to constantly detect the phase of the rotating winch drum 361 over the entire circumferential direction, thus simplifying the process. Furthermore, the phase determination unit 366 can be detected by a distance detection sensor. In particular, since the distance measuring device 628 detects the phase determination unit 366, it becomes possible to eliminate the need for a dedicated sensor to detect the phase determination unit 366. Therefore, it becomes possible to simplify the configuration of the monitoring device, reduce the number of parts, and further reduce manufacturing costs.

[0055] Furthermore, by positioning the phase determination unit 366 of the winch drum 361 to avoid the range of the rope payout unit 365, it becomes possible to perform stable distance detection with minimal fluctuations.

[0056] [others] The details shown in the embodiments of the invention described above can be modified as appropriate without departing from the spirit of the invention. For example, in the above embodiment, the distance measuring device 628 of the monitoring device is configured to function as both a distance detection means and a phase detection means, but the invention is not limited to this. For example, the system may be configured to include a phase detection means in addition to the distance measuring device 628. The phase detection means can utilize any detection device, such as a potentiometer or encoder, that can detect the phase (amount of rotation) of the winch drum 361. Furthermore, the phase detected by the phase detection means indicates the circumferential position of the winch drum 361 and can be determined from the amount of rotation of the winch drum 361, but is not limited to this. The phase detection means can be any means that can determine the circumferential position of the winch drum 361.

[0057] Furthermore, the phase determination unit 366 is not limited to a structure that causes distance fluctuations at a predetermined phase, such as an uneven structure. For example, the outer circumference of the flange portion of the winch drum 361 may be shaped to gradually decrease over its entire circumference, so that the detection distance differs at different phases, and a detection distance corresponding to a predetermined phase may be defined, thereby enabling the detection of a predetermined phase. In that case, the distance measuring device 628 of the monitoring device may be configured to function as a phase detection means, but a separate, dedicated phase detection means may also be provided.

[0058] Furthermore, if distance measuring means are not used as the phase detection means, the phase determination unit 366 is not limited to structures that cause distance fluctuations, such as uneven structures. For example, a marker or the like may be provided on a part of the circumferential direction of the flange portion of the winch drum 361 that is in a predetermined phase, and the phase detection means may read the marker or the like to detect the approach of the marker.

[0059] Furthermore, the winch drum 361 may be provided with multiple phase detection units 366, each detecting a phase at a different stage. In this case, different phases can be identified, for example, by changing the amount of protrusion of the convex structure for each phase, or by changing the depth of the concave structure for each phase. Furthermore, if multiple phases are detected, it is preferable to prepare reference data (reference values) for the normalized processed values ​​indicating the number of layers and rows of the hoisting rope 32 for each phase. In this configuration, which detects multiple different phases, it becomes possible to acquire layer information of the winch drum 361 at a high frequency.

[0060] Furthermore, while the distance measuring device 628 is configured to perform distance detection on a single layer which is a two-dimensional plane, it is not limited to this configuration. For example, the distance measuring device 628 may be configured to perform three-dimensional detection using multiple layers with different heights or inclination angles.

[0061] Furthermore, although the above embodiment illustrates a monitoring device for the winch drum 361 of the hoisting winch 36, a monitoring device with the same configuration may also be provided for the winch drum of the luffing winch 42. Furthermore, although the above embodiment shows an example of providing a monitoring device on the winch drum of a crawler crane, it is not limited to crawler cranes, but can be applied to any crane with a winch drum, including other mobile cranes such as cranes with tower attachments, wheel cranes, and truck cranes, as well as port cranes, overhead cranes, jib cranes, gantry cranes, unloaders, and fixed cranes. Furthermore, the present invention is applicable not only to cranes equipped with lifting hooks, but also to cranes that suspend attachments such as magnets and earth drill buckets. [Explanation of Symbols]

[0062] 1 Crane 32. Hoisting rope (wire rope) 36. Hoisting winch 37. Relief rope 42. Luffing Winch 60 Control device 61 Controllers 361 Winch Drum 362 Winding body (winding section) 363,364 Flange section 365 Rope payout section 366 Phase judgment unit 367 Cover 368 Opening 611 Monitoring Processing Unit (Acquisition Unit) 621 Input section 622 Display device 628 Distance measuring device (distance detection means, phase detection means) Sections A1 to A4

Claims

1. A winch drum monitoring device for monitoring the condition of the winch drum, A phase detection means for detecting a predetermined phase which is a part of the circumferential direction of the entire circumference of the winch drum, It has distance detection means for detecting the distance to the winch drum or the distance to the wire rope wound around the winch drum in the aforementioned phase, The distance detection means is a laser beam scanning type distance measuring device that uses a two-dimensional plane as the detection plane, The winch drum has a winding section around which the wire rope is wound and flange sections provided on both sides of the winding section. The flange portion has a phase determination section in at least a part of it, The phase detection means detects the phase of the winch drum by detecting the phase determination unit. A monitoring device for winch drums.

2. Based on the detection by the distance detection means, the number of layers and rows of the wire rope wound around the winch drum is determined. A winch drum monitoring device according to claim 1.

3. The system includes a display device that displays the number of layers and rows of the wire rope wound on the winch drum, determined based on the detection by the distance detection means. The winch drum monitoring device according to claim 2.

4. Based on the detection by the distance detection means, the number of layers of the wire rope wound around the winch drum is determined. If the number of layers of the wire rope wound around the winch drum, determined based on the detection by the distance detection means, is the first layer, then the system will notify that wear is occurring between the winch drum and the wire rope. A winch drum monitoring device according to claim 2 or claim 3.

5. The distance detection means detects the distance within a range that includes at least the entire axial length of the winding portion. A winch drum monitoring device according to any one of claims 1 to 4.

6. By detecting the phase determination unit, the layer arrangement is displayed on the display device based on the detection result of the distance detection means in the detected phase. A winch drum monitoring device according to any one of claims 1 to 5.

7. The phase detection means also functions as the distance detection means, detecting the phase of the winch drum by detecting the distance to the phase determination unit. The winch drum monitoring device according to claim 6.

8. The device comprises the winch drum and the winch drum monitoring device according to any one of claims 1 to 7, It comprises a lower traveling body, an upper slewing body that pivots relative to the lower traveling body, a boom that rises and falls relative to the upper slewing body, and a hook suspended from the tip of the boom. The winch drum is the winch drum of a luffing winch that raises the boom or a hoisting winch that raises and lowers the hook. crane.

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