Work machines and mobile cranes

Abstract

Provided are a work machine and a mobile crane which are assembled or disassembled and with which a monitoring process that is hardly dependent on the monitoring state of assembly components can be achieved. This work machine (1), which is assembled or disassembled, comprises a work machine body and an assembly component (13) attached to the work machine body. The work machine further comprises a detection unit (20) for monitoring the surroundings, wherein the work machine body includes a lower traveling body (11) and an upper revolving body (12) that rotates relative to the lower traveling body (11), and the detection unit (20) is attached to the upper revolving body (12) without the assembly component (13) therebetween.

Description

[Technical field]

[0001] The present invention relates to a work machine and a mobile crane. [Background technology]

[0002] Patent Document 1 discloses a surroundings monitoring device for a shovel, which is a work machine. This surroundings monitoring device includes a camera and a distance image sensor attached to the upper rear end of the counterweight of the shovel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-204411 A Summary of the Invention [Problem to be solved by the invention]

[0004] A work machine such as a crawler crane is assembled at the work site, and when the work is completed, it is disassembled at the work site and carried out. Furthermore, some assembly parts are installed at each work site and some are not installed at each site. In the case of a work machine that is assembled and disassembled in this way, it becomes necessary to change the position of the surrounding monitoring equipment depending on the installation status of the assembly parts, and there is a problem that it is difficult to realize a uniform monitoring process.

[0005] An object of the present invention is to provide a work machine and a mobile crane that are assembled or disassembled and that can realize monitoring processing that is less dependent on the mounting status of assembly parts. [Means for solving the problem]

[0006] The working machine according to the present invention comprises: A work machine body and a work gear attached to the work machine body Multiple counterweights included A work machine that is assembled or disassembled and includes assembly parts, A detection unit for monitoring the surroundings is further provided, The work machine body includes a lower traveling body and an upper rotating body that rotates relatively to the lower traveling body, The detection unit is The counterweight and a separate It is attached to the upper rotating body without the assembly part.

[0007] The mobile crane according to the present invention comprises: A mobile crane comprising a crane body and a counterweight including a plurality of weight stages and attached to the crane body, the mobile crane being assembled or disassembled at a work site, The lifting capacity can be changed to one of a plurality of lifting capacities by changing the number of stages of the weight attached to the crane body, The plurality of lifting capacities include a first lifting capacity and a second lifting capacity that is a lower lifting capacity than the first lifting capacity, Further comprising a detection unit attached to the counterweight for monitoring the surroundings, The detection unit is attached below the uppermost one of the weights that is attached when the second lifting capacity is set. Effect of the Invention

[0008] According to the present invention, in a work machine and a mobile crane that are assembled or disassembled at a work site, it is possible to monitor the surroundings even during assembly or disassembly without having to move the equipment for monitoring the surroundings. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a side view showing a work machine according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a plan view of the work machine illustrating the arrangement of a detection unit. [Diagram 3] FIG. 4 is a front view of the work machine illustrating the arrangement of the detection unit. [Figure 4] FIG. 2 is a diagram showing a configuration of the working machine of FIG. 1 excluding assembly parts. [Figure 5A]FIG. 2 is a diagram showing the counterweight and a plan view of the base weight. [Figure 5B] FIG. 13 is a diagram showing the counterweight and a rear view of the base weight. [Figure 5C] FIG. 2 is a diagram showing the counterweight, and is a plan view of the first weight. [Figure 5D] FIG. 2 is a diagram showing the counterweight, and is a rear view of the first weight. [Figure 5E] FIG. 2 is a diagram showing the counterweight, and a plan view of the second weight. [Figure 5F] FIG. 13 is a diagram showing the counterweight, and is a rear view of the second weight. [Figure 6A] FIG. 4 is a side view showing a work machine of a comparative example. [Figure 6B] FIG. 2 is a plan view showing a work machine of a comparative example. [Figure 7] FIG. 11 is a side view showing a state in which a first lifting capacity is set in a work machine according to a second embodiment of the present invention. [Figure 8] FIG. 11 is a side view showing a state in which a second lifting capacity is set lower than the first lifting capacity in the work machine according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] (Embodiment 1) FIG. 1 is a side view showing a work machine according to a first embodiment of the present invention. FIG. 2 is a plan view of the work machine illustrating the arrangement of the detector. FIG. 3 is a front view of the work machine illustrating the arrangement of the detector. FIGS. 2 and 3 show a state in which the boom 133 has been removed. FIG. 4 is a diagram showing a configuration in which assembly parts have been removed from the work machine of FIG. 1. In the following description, the direction along the rotation axis of the boom 133 is referred to as the left-right direction, and within a direction perpendicular to the rotation axis of the boom 133 and horizontal, the side of the cab 121 from the center of rotation of the upper rotating body 12 is referred to as the front, and the side of the counterweight 132 is referred to as the rear.

[0012] The work machine 1 according to the first embodiment is a machine that is assembled and used at a work site, and is also disassembled and transported from the work site. The work machine 1 is a mobile crane, specifically a crawler crane. The assembly or disassembly may be performed at an assembly site in the vicinity of the actual site where the lifting work etc. is performed, other than the site where the lifting work etc. is actually performed. For example, the work machine 1 may be assembled on the side of a mountain, and the assembled work machine 1 may be driven to the work site, in which case the assembly site will be the side of the mountain.

[0013] The work machine 1 comprises a work machine body (crane body) 10 (see FIG. 4), an assembly part 13 that is lifted by heavy equipment and attached to the work machine body 10, and a detection unit 20 for monitoring the surroundings. The work machine body 10 in FIG. 4 is shown in a state where the assembly part 13 is not attached. The work machine 1 may further comprise a monitoring device that receives a detection signal from the detection unit 20 and monitors the surroundings. The monitoring device may include a display unit that outputs a monitoring image including surrounding workers, pedestrians or obstacles detected by the detection unit 20. The display unit may be placed in the driver's cab of the work machine 1, a management terminal for the work site, a management center away from the site, etc.

[0014] The work machine body 10 includes a lower traveling body 11 to which a crawler part 131 is attached to form a crawler, and an upper rotating body 12 that rotates relative to the lower traveling body 11. The upper rotating body 12 includes a cab 121, a winch 125, a hydraulic device 122, a mast 123, a main frame 124, and a lower frame 111 that is a support base for the lower traveling body 11. The main frame 124 is a member that supports any one of the boom, the hydraulic device, the winch, or the mast from below. Specifically, the main frame 124 is a frame that supports each component of the upper rotating body 12 and to which the boom is rotatably connected, and is connected to the lower traveling body 11 via a swivel bearing and extends from the cab 121 to a point midway through the counterweight 132 in the front-rear direction. The main frame 124 may be configured to be separable and assembled into a plurality of frames such as a front frame and a back frame. Even in this case, the front frame and the back frame are included in the work machine body 10, and are not included in the assembly part 13. The work machine body 10 has a jack (not shown) for lifting itself. The mast 123 is configured to apply a rear load to the boom 133, but when assembling or disassembling the work machine 1, a hook is hung from the tip of the mast 123, and the assembly part 13 is raised and lowered by the hook and the upper rotating body 12 rotates, making it possible to move the assembly part 13 lifted by the mast 123. The mast 123 is a concept that includes an A-frame that does not swing during crane operation.

[0015] Assembly parts 13 are parts that are mainly assembled at the work site, and refer to heavy parts that can be attached to the work machine body 10 by lifting them with heavy machinery or the like. Therefore, lightweight parts such as ladders and lightweight stays that can be lifted and attached only by human power, and brackets for attaching cameras are excluded from assembly parts 13. In other words, in this specification, "assembly parts" are defined as parts that cannot be assembled only by human power. Parts that cannot be assembled only by human power are parts that need to be lifted by heavy machinery or the like as specified at each work site or in the assembly instructions, but are, for example, parts that weigh more than 20 kg.

[0016] The assembly parts 13 include a crawler part 131, a counterweight 132, a boom 133, and a lower weight (not shown). The crawler part 131 may include a part of the crawler drive mechanism in addition to the crawler shoes. The assembly parts 13 are connected to the work machine body 10 by pin joints, cylinder fastening, or bolt fastening.

[0017] The assembly parts 13 are attached at the work site as follows. For example, with the work machine body 10 lifted up by a jack, the crawler parts 131 are lifted up using another crane or mast 123 and moved to the lower frame 111 of the lower traveling body 11. In this state, an operator connects the crawler parts 131 to the lower frame of the lower traveling body 11. The counterweight 132 is lifted up using another crane or mast 123, moved to the rear of the main frame 124, and attached to that location. The boom 133 and the lower weight 134 are also lifted up using another crane or mast 123, moved to the attachment location of the main frame 124, and attached to that location.

[0018] 5A to 5F are diagrams showing the counterweight, with Fig. 5A, Fig. 5C and Fig. 5E showing plan views of the base weight, the first weight and the second weight, respectively, and Fig. 5B, Fig. 5D and Fig. 5F showing rear views of the base weight, the first weight and the second weight, respectively. The counterweight 132 includes a base weight 132A attached to the main frame of the upper rotating body 12, and a first weight 132B and a second weight 132C attached to the upper rotating body 12 via the base weight 132A. The base weight 132A is configured so that only one layer can be attached, and the first weight 132B and the second weight 132C are configured so that multiple layers of the same shape can be attached. The counterweight 132 may be configured such that other weights such as a first weight 132B and a second weight 132C are stacked above a base weight 132A, or such that other weights are suspended below the base weight 132A.

[0019] The detection unit 20 is a device that acquires data for detecting objects present in the surroundings, such as a distance measuring device such as a scanning type LiDAR (Light Detection and Ranging) or a photographic camera. The detection unit 20 has a detection range W1 shown in Figs. 1 and 3, and detects objects present in the detection range W1. The detection range W1 has an angular range centered on a vertical axis and an angular range centered on an axis extending to the left and right. When the detection unit 20 is a LiDAR, it acquires data indicating the direction and distance of an object located in the detection range, and can detect the position of the object in the surroundings from these data. When the detection unit 20 is a photographic camera, it can detect objects such as workers, pedestrians, and obstacles in the detection range W1 by performing image recognition from a photographed image of the detection range.

[0020] 1, the detection unit 20 of the monitoring device is attached to the upper rotating body 12 without using an assembly part 13. More specifically, the detection unit 20 is attached to the lower surface of the main frame 124 via a stay or the like, and is disposed below the main frame 124 or below the main frame 124. Note that the main frame 124 may have a recess in its lower part, and the detection unit 20 may be disposed in the recess and located above the lowest end of the main frame 124.

[0021] Furthermore, the detection unit 20 is attached to the main body of the upper rotating body 12, which is attached to the lower running body 11 first. However, the attachment of the main body of the upper rotating body 12 to the lower running body 11 is not performed at the site or in the vicinity thereof. The main body that is attached to the lower running body 11 first is, for example, the main frame 124. Furthermore, the detection unit 20 is disposed rearward of the slewing bearing 112 of the upper rotating body 12. In addition, the detection unit 20 is disposed at a position overlapping with the mast 123 when viewed vertically from above. The mast 123 has two pillars 123a and a cross member 123b connecting the two pillars. The position overlapping with the mast 123 when viewed from above may be a position overlapping with the pillars 123a or the cross member 123b when the mast 123 is at any angle between the horizontal angle and the vertical angle. The position where the mast 123 overlaps corresponds to a range rearward of the center of the upper rotating body 12 and toward the center in the left-right direction.

[0022] Furthermore, the detection unit 20 is disposed inside the turning radius RT (see FIG. 2) of the upper rotating body 12. The turning radius RT means the trajectory of the end of the component that moves on the outermost side when the upper rotating body 12 turns, excluding the upright and variably configured components such as the boom 133 and the mast 123. In a typical crane, the turning radius corresponds to the rear end radius, and corresponds to the trajectory of the rear end of the counterweight 132 when the counterweight 132 is attached.

[0023] 1 and 3, the detection range W1 of the detection unit 20 extends rearward and in the left-right and up-down directions. The detection range W1 overlaps a part of the counterweight 132, more specifically, overlaps with the lower rear end of the counterweight 132. Therefore, the detection unit 20 can directly detect the part that forms the turning radius (rear end radius) R1 of the upper rotating body 12.

[0024] Fig. 6A is a side view showing a work machine of a comparative example. Fig. 6B is a plan view showing a work machine of a comparative example. When the detection unit 20 is arranged at the upper rear end of the counterweight 132 as in the work machine 800 of the comparative example, a problem occurs in that before the counterweight 132 is attached, that is, when the work machine 800 is assembled or disassembled, the detection unit 20 must be moved to another location in order to monitor the surroundings. Furthermore, simply moving the detection unit 20 to another location reduces the accuracy of the position and angle of the detection unit 20, which makes it difficult to monitor the surroundings well.

[0025] In addition, a typical mobile crane is configured to allow the user to select a desired lifting capacity from among multiple levels of lifting capacity. The lifting capacity is switched by the number of stages to which the counterweight 132 is attached. The number of stages to which the counterweight 132 is attached is detected by a weight detection device and notified to the control unit of the work machine, and the control unit sets the lifting capacity and determines various control parameters based on this notification. If the detection unit 20 is located at the upper rear end of the counterweight 132, when the lifting capacity is changed, the number of stages of the counterweight 132 changes, and the height of the detection unit 20 changes. If the position of the detection unit 20 is constant, uniform monitoring processing is possible based on the output of the detection unit 20. However, if the position of the detection unit 20 is not constant, multiple setting data or programs for monitoring processing that are suitable for each of the multiple positions at which the detection unit 20 is placed must be prepared. Even if the position of the detection unit 20 changes, it is difficult to perform monitoring processing that is suitable for different heights if the same monitoring processing is performed using one setting data or program.

[0026] Furthermore, in recent mobile cranes, in order to reduce the size of the crane body and improve the lifting capacity, the weight of the counterweight 132 has increased, and the height of the counterweight 132 has also increased. If the detector 20 is located at the upper rear end of the taller counterweight 132, a blind spot H1 will be created near the turning radius RT, as shown in Figures 6A and 6B.

[0027] Furthermore, the fallen mast 123 may come close to the upper part of the counterweight 132. If the detection unit 20 is disposed in the center so that a single detection unit 20 can monitor an area spanning the left and right, there is a risk that the detection unit 20 and the mast 123 may interfere with each other.

[0028] On the other hand, according to the work machine 1 of the first embodiment, the detection unit 20 for monitoring the surroundings is attached to the upper rotating body 12 without the assembly part 13 being lifted and attached by heavy machinery. Therefore, when the assembly part 13 is attached or removed, the surroundings can be monitored using the detection unit 20 arranged at a predetermined position without changing the attachment position of the detection unit 20. Even when the assembly part 13 is lifted using the mast 123 and the upper rotating body 12 is rotated to move the assembly part 13, the surroundings can be monitored based on the detection of the detection unit 20 in the same manner as during normal work. Since the detection unit 20 is attached to the upper rotating body 12, it is easy to monitor whether there is an abnormality in the surroundings when the upper rotating body 12 rotates. Since the detection unit 20 is not connected via the assembly part 13, there is no risk of an error occurring in the position and angle of the detection unit 20 depending on the attachment state of the assembly part 13, and uniform surroundings monitoring that is not dependent on the attachment state of the assembly part 13 can be realized.

[0029] Furthermore, according to the work machine 1 of the first embodiment, the detection unit 20 is disposed on the underside of the main frame 124 or below the underside. Therefore, blind spots are unlikely to occur behind the work machine 1, and furthermore, it becomes possible to detect an object (worker, obstacle, etc.) passing relatively below the counterweight 132 when the upper rotating body 12 rotates. If the object is short, it is possible to determine, based on the detection result of the detection unit 20, whether the object will interfere with the upper rotating body 12 when the upper rotating body 12 rotates, or whether the upper rotating body 12 (counterweight 132) will pass above the object and thereby cause the object to interfere with the upper rotating body 12.

[0030] Furthermore, according to the work machine 1 of the first embodiment, the detection unit 20 is disposed so as to overlap with the mast 123 when viewed vertically from above. Therefore, it is possible to detect an area spanning left and right with one detection unit 20. Furthermore, even if the detection unit 20 is positioned so as to overlap with the mast 123, by attaching it to the lower part of the main frame 124, there is no risk of interference between the mast 123 and the detection unit 20.

[0031] Furthermore, according to the work machine 1 of the first embodiment, the detection unit 20 is disposed inside the turning radius RT. Therefore, based on the detection results of the detection unit 20, it is possible to monitor for abnormalities from inside the turning radius RT to the vicinity and outside of the turning radius RT. Furthermore, according to the work machine 1 of the first embodiment, since the counterweight 132 overlaps with the detection range W1 of the detection unit 20, it is possible to directly detect the turning radius RT, i.e., the rear end of the upper rotating body 12, when the upper rotating body 12 rotates. Therefore, it is possible to more accurately monitor for abnormalities in the vicinity of the turning radius RT.

[0032] (Embodiment 2) Fig. 7 is a side view showing a work machine according to a second embodiment of the present invention when it is set to a first lifting capacity. Fig. 8 is a side view showing a work machine according to the second embodiment when it is set to a second lifting capacity lower than the first lifting capacity. The work machine 1A according to the second embodiment is configured similarly to the work machine 1 according to the first embodiment, except that the mounting position of the detection unit 20 for monitoring the surroundings is different.

[0033] In the second embodiment, the detection unit 20 is attached to the uppermost or lower weight of the counterweight 132 attached to the work machine body 10 when a second lifting capacity (for example, the lowest lifting capacity) lower than the first lifting capacity is set. In the example of Fig. 7 and Fig. 8, the counterweight 132 attached at the time of the second lifting capacity is the base weight 132A and the first weight 132B of the second stage, which are also attached to the work machine body 10 when another lifting capacity is set. In this case, the detection unit 20 may be attached to the lower part of the base weight 132A, or to the side or rear part of the base weight 132A or the first weight 132B. In addition, in the case of a configuration in which the first weight 132B is suspended below the base weight 132A, the detection unit 20 may be attached to the lower part of the first weight 132B located at the lowest stage.

[0034] With such an installation position of the detection unit 20, the detection unit 20 is positioned at a constant position and angle regardless of the lifting capacity set for the work machine 1A, so that a constant monitoring process can always be carried out during work.

[0035] 7 and 8, the detection unit 20 is attached to the lower part of the counterweight 132, so that blind spots are unlikely to occur behind the work machine 1A, and it is also possible to detect an object (worker or obstacle) located below the counterweight 132 when the upper rotating body 12 rotates. If the object is short, it is possible to determine whether the object will interfere with the counterweight 132 when the upper rotating body 12 rotates, or whether the counterweight 132 will pass above the object and cause the object to interfere with the counterweight 132, based on the detection result of the detection unit 20.

[0036] Furthermore, the detection unit 20 is disposed at a position overlapping with the mast 123 when viewed from above. The position overlapping with the mast 123 when viewed from above may be a position overlapping with the support 123a or the cross member 123b when the mast 123 is at any angle between the horizontal angle and the vertical angle. With such an arrangement, it is possible to detect an area spanning from left to right with one detection unit 20. Furthermore, even if the detection unit 20 is disposed at a position overlapping with the mast 123, there is no risk of interference between the mast 123 and the detection unit 20 by attaching it to the lower part of the counterweight 132.

[0037] Furthermore, the detection unit 20 is disposed inside the turning radius RT of the upper rotating body 12. Such an arrangement enables monitoring from inside the turning radius RT to the vicinity and outside of the turning radius RT. Furthermore, the detection range W1 of the detection unit 20 overlaps with the counterweight 132 (e.g., the rear end of the lower surface of the base weight 132A). With such an arrangement, the turning radius RT, i.e., the rear end of the counterweight 132, can be directly detected when the upper rotating body 12 is turning, enabling more accurate monitoring of whether there are any abnormalities in the vicinity of the turning radius RT.

[0038] Furthermore, a recess U1 (see Figs. 5A and 5B) is provided at the bottom of the base weight 132A, and the detection unit 20 is attached with at least a portion of the detection unit 20 fitting into the recess U1. When the detection unit 20 is attached to the side or rear portion of the base weight 132A or the first weight 132B, recesses may be provided at these locations of each weight 132A, 132B, and a portion or all of the detection unit 20 may be housed in the recess. This attachment structure can prevent the detection unit 20 attached to the base weight 132A from interfering with other components or surrounding objects, or from increasing the turning radius.

[0039] As described above, according to the work machine 1A of the second embodiment, even if the number of stages of the counterweight 132 is changed to switch the lifting capacity setting, the position of the detection unit 20 does not change, so that uniform monitoring processing can be realized.

[0040] The above describes each embodiment of the present invention. However, the present invention is not limited to the above embodiments. For example, in the above embodiments, a crawler crane is shown as a mobile crane, but the moving method of the mobile crane according to the present invention is not limited, and the crane may adopt any moving method, such as a truck crane or a wheel crane, and the type of the crane may be any crane, such as a tower crane. In addition, in the above embodiments, a crawler crane is shown as a work machine that is assembled or disassembled at a work site, but the work machine according to the present invention is not limited to a crane, and may be any work machine, such as a hydraulic excavator, as long as it is assembled and disassembled at a work site. In addition, in the above embodiments, a scanning type distance measuring device and a photographing camera are shown as an example of the detection unit, but the detection unit may have any configuration as long as it is configured to acquire data that can detect surrounding objects. Other details shown in the embodiments can be appropriately changed within the scope of the invention. [Industrial Applicability]

[0041] The present invention can be used in work machines and mobile cranes. [Explanation of symbols]

[0042] 1. Work Machinery 1A Work Machine (Mobile Crane) 10 Working machine body (crane body) 11 Undercarriage 12 Upper rotating body 121 Cab 123 Mast 124 Mainframe 13 Assembly parts 131 Crawler parts 132 Counterweight 133 Boom 132A Base Weight 132B 1st Weight 132C 2nd Weight 20 Detection unit W1 Detection range U1 recess

Claims

1. A work machine that includes a work machine body and a plurality of assembly parts including a counterweight attached to the work machine body, and that is assembled or disassembled, A detection unit for monitoring the surroundings is further provided, The work machine body includes a lower traveling body and an upper rotating body that rotates relatively to the lower traveling body, The detection unit is attached to the upper rotating body without the counterweight or the assembly part other than the counterweight. Working machinery.

2. The detection unit is attached to the main body of the upper rotating body which is first attached to the lower traveling body, 2. The work machine according to claim 1.

3. The upper rotating body includes a main frame that supports components of the upper rotating body, The detection unit is disposed on a lower surface of the main frame or below the lower surface. A work machine according to claim 1 or 2.

4. The work machine body is a crane body, The working machine further includes a mast disposed at the rear of the working machine body, The detection unit is disposed at a position overlapping with the mast when viewed vertically from above. A work machine according to any one of claims 1 to 3.

5. The detection unit is disposed inside the turning radius. A work machine according to any one of claims 1 to 4.

6. A mobile crane comprising a crane body and a counterweight including a plurality of weight stages and attached to the crane body, the mobile crane being assembled or disassembled at a work site, The lifting capacity can be changed to one of a plurality of lifting capacities by changing the number of stages of the weight attached to the crane body, The plurality of lifting capacities include a first lifting capacity and a second lifting capacity that is a lifting capacity lower than the first lifting capacity, Further comprising a detection unit attached to the counterweight for monitoring the surroundings, The detection unit is attached below the top of the weight that is attached when the second lifting capacity is set, Mobile crane.

7. The counterweight includes a base weight that supports the other weights, The detection unit is attached to a lower part of the base weight.

7. The mobile crane of claim 6.

8. The detection unit is disposed below the counterweight. A mobile crane according to claim 6 or claim 7.

9. Further equipped with a mast, The detection unit is disposed at a position overlapping with the mast when viewed vertically from above. A mobile crane according to any one of claims 6 to 8.

10. The counterweight has a recess that accommodates the detection unit. A mobile crane according to any one of claims 6 to 9.

11. The detection unit is disposed inside the turning radius. A mobile crane according to any one of claims 6 to 10.

12. A part of the counterweight is included in the detection range of the detection unit. A mobile crane according to any one of claims 6 to 11.

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