Sheave device storage and deployment method

Abstract

To suppress the excessive increase of tension of a rope while a lifting side sheave device is stored and developed.SOLUTION: In a sheave device storing and expanding step S12, a winch W winds and delivers a rope R in a state where a lifting side sheave device Db is lifted by an assist crane 80. In a tension information detection step S21, rope state information of the rope R when the sheave device storing and expanding step S12 is executed is detected. In a tension information using step S30, at least one of notification to an operator and drive control of the winch W is carried out on the basis of the rope state information detected in the tension information detection step S21.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a sheave device storing and deploying method for storing and deploying a sheave device of a crane. [Background technology]

[0002] For example, Patent Document 1 describes the storage of a lifting sheave device (referred to as an upper spreader in the document) (paragraph 0007 of the document). In the technology described in the document, with the lifting sheave device (upper spreader) lifted by an assist crane, the winch gradually winds up the rope while applying tension to the rope. This causes the lifting sheave device (upper spreader) to be stored. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-130562 Summary of the Invention [Problem to be solved by the invention]

[0004] When storing the lifting sheave device, if the speed at which the winch winds the rope is not properly adjusted relative to the speed at which the assist crane moves the lifting sheave device, excessive tension in the rope may occur. A similar problem occurs when the lifting sheave device is deployed from a stored state.

[0005] Therefore, an object of the present invention is to provide a sheave device storage and deployment method that can prevent excessive tension in the rope when storing and deploying the lifting sheave device. [Means for solving the problem]

[0006] The sheave device storing and deploying method is used in a crane. The crane includes a rope, a winch that winds and pays out the rope, and a lifting-side sheave device having a sheave around which the rope is hung. The sheave device storing and deploying method includes a sheave device storing and deploying step, a tension information detecting step, and a tension information utilizing step. In the sheave device storing and deploying step, the winch winds and pays out the rope while the lifting-side sheave device is lifted by an assist crane. In the tension information detecting step, rope status information of the rope is detected when the sheave device storing and deploying step is performed. In the tension information utilizing step, at least one of notifying an operator and controlling the drive of the winch is performed based on the rope status information detected in the tension information detecting step. [Effects of the Invention]

[0007] With the above configuration, excessive tension in the rope can be prevented when the lifting sheave device is stored and deployed. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a crane 10 such as a sheave device storage and deployment system 1 that performs a sheave device storage and deployment method. [Figure 2] 2 is a side view of the crane 10 when the hoisting side sheave device Db shown in FIG. 1 is being stored and deployed. FIG. [Figure 3] 2 is a block diagram showing the sheave device storage and deployment system 1 shown in FIG. 1. FIG. [Figure 4] 2 is a flowchart showing the operation of the sheave device storing and deploying system 1 shown in FIG. 1, etc. [Figure 5] FIG. 10 is a view corresponding to FIG. 2 of a third embodiment. [Figure 6] FIG. 10 is a view of a fourth embodiment corresponding to FIGS. 1 and 2. [Figure 7] FIG. 10 is a view of a fifth embodiment corresponding to FIGS. 1 and 2. DETAILED DESCRIPTION OF THE INVENTION

[0009] (First embodiment) A sheave device storing and deploying system 1 according to a first embodiment will be described with reference to FIGS.

[0010] The sheave device storage and deployment system 1 is a system that assists in at least one of storing and deploying the sheave device D shown in Fig. 1. The sheave device storage and deployment system 1 may be a system that automatically performs at least one of storing and deploying the sheave device D. The sheave device storage and deployment system 1 includes a crane 10, a controller 71 shown in Fig. 3, a notification unit 73, and an assist crane 80.

[0011] As shown in FIG. 1, the crane 10 is a machine that performs work using a boom 20 (hoisting member) and other components. The crane 10 is, for example, a construction machine that performs construction work. The crane 10 includes a lower body 11, an upper rotating body 13, the boom 20, and a boom hoisting device 30. The jib 340 (hoisting member) and the jib hoisting device 350 shown in FIG. 1 will be described later. The jib 340 and the jib hoisting device 350 do not necessarily have to be provided in this embodiment.

[0012] The lower body 11 supports the upper rotating body 13. The lower body 11 may be a structure fixed to the ground, or may be movable. The crane 10 may be a fixed crane or a mobile crane. When the lower body 11 is movable (when it is a lower traveling body), the lower body 11 may be equipped with crawlers or wheels.

[0013] The upper rotating body 13 is rotatably mounted on the lower main body 11. A boom 20 and other components are attached to the upper rotating body 13. The upper rotating body 13 includes a cab 13a and a counterweight 13b. The cab 13a is a section where an operator can operate the crane 10. The crane 10 may be operated by an operator in the cab 13a, may be remotely operated by an operator outside the crane 10, or may be automatically operated by a controller 71 (see FIG. 3). The counterweight 13b is a weight used to balance the crane 10 in the fore-and-aft direction. The direction in which the rotation axis of the upper rotating body 13 relative to the lower main body 11 extends is defined as the up-and-down direction. The direction in which the rotation axis of the boom 20 relative to the upper rotating body 13 extends is defined as the lateral direction. The direction perpendicular to both the up-and-down direction and the lateral direction is defined as the fore-and-aft direction X. In the front-rear direction X, the side from the counterweight 13b toward the attachment portion of the boom 20 to the upper rotating body 13 is the front side X1, and the opposite side is the rear side X2.

[0014] The boom 20 (hoisting member) is attached to the upper rotating body 13 so that it can be raised and lowered (rotated up and down). The "hoisting member" is a member attached to a structure of the crane 10 (such as the upper rotating body 13) so that it can be raised and lowered. The boom 20 can be placed in a lowered position (lying down position) so that the central axis of the boom 20, which extends in the longitudinal direction of the boom 20, extends horizontally or approximately horizontally (see Figure 2). The upper surface of the boom 20 when in the lying down position is referred to as the boom back surface 20b. The boom 20 includes a lower boom 21, an intermediate boom 23, and an upper boom 25. The lower boom 21 is disposed at the base end of the boom 20 (the end attached to the upper rotating body 13). The intermediate boom 23 is connected to the tip end of the lower boom 21 (the end opposite to the end attached to the upper rotating body 13). The upper boom 25 is connected to the tip end of the intermediate boom 23 and is disposed at the tip end of the boom 20. The upper boom 25 may be a substantially hexahedral member (boom head, tower cap) or may be a member that is long in the axial direction of the boom 20.

[0015] The boom hoisting device 30 is a device that raises and lowers the boom 20 relative to the upper rotating body 13. The boom hoisting device 30 includes a gantry 31, a boom hoist spreader 33, a boom guy line 35, a boom hoist rope 37 (rope R), and a boom hoist winch 39 (winch W).

[0016] The gantry 31 includes a compression member 31a and a tension member 31b. The compression member 31a is attached to the upper rotating body 13. The tension member 31b is connected to the tip end of the compression member 31a and the rear X2 end of the upper rotating body 13.

[0017] The boom hoist spreader 33 (an example of a sheave device D described later) is a device having a sheave around which the boom hoist rope 37 is hung. The boom hoist spreader 33 includes a boom hoist lower spreader 33a (an example of a support side sheave device Da described later) and a boom hoist upper spreader 33b (an upper spreader, an example of a lifting side sheave device Db described later). The boom hoist lower spreader 33a is a device having a sheave (e.g., multiple sheaves) and is provided at the tip of the compression member 31a. The boom hoist upper spreader 33b is a device having a sheave (e.g., multiple sheaves). When the crane 10 is in the working posture (a posture capable of work), the boom hoist upper spreader 33b is positioned between the tip of the compression member 31a and the tip of the boom 20.

[0018] The boom guy line 35 is connected to the boom hoisting upper spreader 33b and the tip of the boom 20 when the crane 10 is in the working position.

[0019] The boom hoisting rope 37 (rope R) is looped around the sheave of the boom hoisting lower spreader 33a and the sheave of the boom hoisting upper spreader 33b.

[0020] The boom hoist winch 39 (winch W) is mounted on the upper rotating body 13. The boom hoist winch 39 winds and unwinds the boom hoist rope 37. This changes the distance between the boom hoist lower spreader 33a and the boom hoist upper spreader 33b. When the crane 10 is in the working position, the boom hoist upper spreader 33b is connected to the tip of the boom 20 by the boom guy line 35. Therefore, when the distance between the boom hoist lower spreader 33a and the boom hoist upper spreader 33b changes, the boom 20 is raised and lowered relative to the upper rotating body 13.

[0021] The configuration of the boom hoisting device 30 can be modified in various ways. For example, a mast 531 (see FIG. 7) (an example of a lifting-side sheave device Db, which will be described later) may be provided instead of the gantry 31 (see FIG. 7). The boom hoisting device 30 may include the gantry 31 and the mast 531 (see FIG. 7), or may include multiple masts 531.

[0022] (Sheave device D, rope R, and winch W) The sheave device D is a device having a sheave around which the rope R is hung. The sheave device D is equipped with a support side sheave device Da and a lifting side sheave device Db. As shown in FIG. 2, the lifting side sheave device Db is the part of the sheave device D that is lifted by the assist crane 80 when the sheave device D is stored and deployed (described later). The support side sheave device Da is the part of the sheave device D that is different from the lifting side sheave device Db. The support side sheave device Da is the part that is held by a structure of the crane 10 (such as the gantry 31) when the sheave device D is stored and deployed.

[0023] The rope R is looped around the sheaves of the support-side sheave device Da and the sheaves of the lifting-side sheave device Db so as to connect these sheaves.

[0024] The winch W winds and pays out the rope R. The winch W is mounted on a structure of the crane 10 (e.g., the upper rotating body 13, the lower boom 21, etc.). By winding and paying out the rope R, the winch W changes the distance between the support side sheave device Da and the lifting side sheave device Db, thereby raising and lowering the hoisting member (e.g., the boom 20, the jib 340, etc. shown in FIG. 1). As shown in FIG. 3, the winch W includes a drum Wd and a motor Wm. The drum Wd is a member (e.g., a cylindrical member) around which the rope R is wound. The motor Wm rotates (rotates) the drum Wd relative to the structure on which the winch W is mounted (e.g., the upper rotating body 13 (see FIG. 2)). The motor Wm may be, for example, a hydraulic motor or an electric motor.

[0025] The tension sensor 61 (rope status information detection unit RS) detects rope status information, which will be described later. The tension sensor 61 detects the tension of the rope R. For example, the tension sensor 61 detects the force acting on the shaft of the sheave around which the rope R is hung. The "shaft of the sheave around which the rope R is hung" may be the shaft of the sheave of the support side sheave device Da, the shaft of the sheave of the lifting side sheave device Db, or the shaft of a sheave around which the rope R is hung but other than the sheave device D. Furthermore, for example, the tension sensor 61 may detect a force other than that of the sheave shaft around which the rope R is hung. The tension sensor 61 may detect, for example, a load acting on the winch W, or may detect, for example, a load acting on the shaft of the drum Wd. When the tension sensor 61 detects a load acting on a shaft, the tension sensor 61 is, for example, a load cell.

[0026] The tension sensor 61 may detect the tension of the rope R by detecting the load on the motor Wm. For example, if the motor Wm is a hydraulic motor, the tension sensor 61 may be a hydraulic sensor that detects the hydraulic pressure that drives the motor Wm. Also, for example, if the motor Wm is an electric motor, the tension sensor 61 may be a power sensor that detects the power that drives the motor Wm. Then, the controller 71 may convert the detection value (hydraulic pressure, power, etc.) of the tension sensor 61 into the tension of the rope R. In this case, the controller 71 may be a part of the tension sensor 61.

[0027] The winch driving unit 63 drives the winch W. For example, if the motor Wm is a hydraulic motor, the winch driving unit 63 includes a hydraulic circuit for driving the hydraulic motor. For example, if the motor Wm is an electric motor, the winch driving unit 63 includes an electric circuit for driving the electric motor. The winch driving unit 63 is mounted on, for example, the upper rotating body 13 (see FIG. 2).

[0028] The controller 71 is a computer that inputs and outputs signals, performs calculations (processing), stores information, etc. For example, the functions of the controller 71 are realized by a calculation unit (not shown) executing a program stored in a storage unit (not shown) of the controller 71. The controller 71 may be mounted on, for example, the crane 10 (see FIG. 2), or may be mounted on, for example, the upper rotating body 13 (see FIG. 2). The controller 71 may also be disposed outside the crane 10 (see FIG. 2).

[0029] The notification unit 73 notifies a worker (e.g., an operator). The content of the notification by the notification unit 73 will be described later. The notification unit 73 may be mounted on the crane 10 shown in FIG. 2, for example, and may be disposed inside the cab 13a, for example, or may be disposed at a location on the crane 10 other than the cab 13a. The notification unit 73 shown in FIG. 3 may be disposed outside the crane 10 (see FIG. 2), for example, in a remote control unit (not shown) that remotely controls the crane 10. The worker to whom the notification unit 73 notifies may be the operator of the crane 10 (the operator operating the cab 13a or the remote control unit), the operator of the assist crane 80, a work supervisor, or another worker. The worker to whom the notification unit 73 notifies may be multiple people. For example, if a worker other than the operator of the crane 10 receives a notification from the notification unit 73, the worker who received the notification may communicate (contact, etc.) the content of the notification to the operator of the crane 10 (see FIG. 2) or the like (the same applies to the operator of the assist crane 80). The notification unit 73 may notify by light, for example, by displaying a screen (monitor display). The notification unit 73 may notify by sound, for example, by voice. The notification unit 73 may utilize a device that is normally provided in the crane 10. Specifically, for example, the notification unit 73 may be a monitor for a moment limiter.

[0030] The assist crane 80 is a machine (auxiliary crane) separate from the crane 10 shown in FIG. 2 and used to assemble and disassemble the crane 10. The assist crane 80 is, for example, a mobile crane. The assist crane 80 includes an assist crane hoisting load sensor 81 (see FIG. 3) (rope status information detection unit RS) and a hook 83. The assist crane hoisting load sensor 81 detects rope status information, which will be described later. The assist crane hoisting load sensor 81 detects the hoisting load (described later) of the assist crane 80. The hook 83 is a member to which the lifting side sheave device Db is hung. The lifting side sheave device Db is hung from the hook 83 via, for example, a sling rope S1 or a joint (such as a shackle, not shown). The assist crane 80 (more specifically, a controller, not shown, of the assist crane 80) is configured to be able to communicate (for example, wirelessly) with the controller 71 (see FIG. 3) of the crane 10. The assist crane 80 does not necessarily have to be included in the sheave device storage and deployment system 1.

[0031] (Activation) In the sheave device storage and deployment system 1 (crane 10), work of storing and deploying the sheave device D (a sheave device storage and deployment method) is performed. The work of storing and deploying the sheave device D is performed, for example, as part of the work of assembling and disassembling the crane 10. The work of storing and deploying the sheave device D includes storing the sheave device D (for example, as part of the work of disassembling the crane 10) and deploying the sheave device D (for example, as part of the work of assembling the crane 10).

[0032] Before the sheave device D is stored and deployed, the assist crane 80 is placed in a state in which it hoists the lifting side sheave device Db. Here, a case will be described in which the lifting side sheave device Db is the boom hoist upper spreader 33b, and the sheave device D (boom hoist spreader 33) is stored. In the state shown in FIG. 2, the boom 20 is placed in a collapsed position. The tip of the boom 20 is supported from below by the ground. The boom hoist upper spreader 33b is separated from the boom guy line 35 (see FIG. 1) and is placed on the boom back surface 20b at the tip of the lower boom 21. In this state, the boom hoist upper spreader 33b is hoisted by the assist crane 80. The boom hoisting upper spreader 33b is moved by the assist crane 80 from the boom back surface 20b at the tip of the lower boom 21 to a position directly or approximately directly above the gantry 31 (for example, directly or approximately directly above the boom hoisting lower spreader 33a).

[0033] (Storage and deployment of sheave device D) The work of storing and deploying the sheave device D includes a work start step S11, a sheave device storing and deploying step S12, a tension information detecting step S21, a tension information utilizing step S30, and a completion determining step S41, all of which are shown in Fig. 4. Each step (S11 to S41) will be described below with reference to Fig. 4.

[0034] In the work start step S11, the work of storing and deploying the sheave device D shown in FIG. 2 ("storage" in FIG. 4) is started. At this time, for example, the mode of the storing and deploying work of the sheave device D may be set to "on" in the controller 71 (see FIG. 3). The mode of the storing and deploying work of the sheave device D may be set to a storage work mode and a deployment work mode. For example, the mode of the storing and deploying work of the sheave device D may be set to "on" based on the operation of the operator (such as a switch operation). It is not necessary for the mode of the storing and deploying work of the sheave device D to be set in the controller 71 (see FIG. 3).

[0035] In the sheave device storing and deploying step S12, with the lifting side sheave device Db being lifted by the assist crane 80, the winch W winds and unwinds ("winds" in FIG. 4) the rope R. Specifically, for example, the winch W winds the rope R in response to the operation of the operator of the crane 10.

[0036] At the same time that the winch W winds in and unwinds the rope R, the hook 83 of the assist crane 80 is wound up (moved upward) or lowered (moved downward). Specifically, for example, the hook 83 is wound up or lowered in accordance with the operation of the operator of the assist crane 80.

[0037] As the winch W winds and unwinds the rope R and the hook 83 of the assist crane 80 is wound up or down, the lifting side sheave device Db moves and the distance between the lifting side sheave device Db and the support side sheave device Da changes.

[0038] [Example A1] For example, when sheave device D is stored, the assist crane 80 winds down the lifting side sheave device Db at the same time that the winch W winds up the rope R. Then, the lifting side sheave device Db approaches the support side sheave device Da, and the distance between the lifting side sheave device Db and the support side sheave device Da becomes narrower.

[0039] [Example A2] When the sheave device D is deployed, the operation is the opposite of when the sheave device D is stored. For example, the assist crane 80 winds up the lifting side sheave device Db at the same time that the winch W pays out the rope R. Then, the lifting side sheave device Db moves away from the support side sheave device Da, and the distance between the lifting side sheave device Db and the support side sheave device Da becomes wider.

[0040] (tuning) When storing and deploying the sheave device D, it is important that the crane 10 and the assist crane 80 work together to keep the tension of the rope R within an appropriate range. Specifically, to keep the tension of the rope R within an appropriate range, it is important to properly synchronize the winding (or letting out) of the rope R by the winch W with the winding down (or hoisting) of the hook 83 of the assist crane 80. More specifically, it is important to properly synchronize the speed Spw of the winding (or letting out) of the rope R by the winch W with the speed Spa of the winding down (or hoisting) of the hook 83 by the assist crane 80. If the tension of the rope R becomes too high or too low, the following problems may occur.

[0041] When the sheave device D is being stored, if the winding speed Spw of the winch W is too fast compared to the winding-down speed Spa of the assist crane 80, the tension in the rope R becomes excessive (overtension), which can lead to the following problems: [Example B1] Excessive tension in the rope R may damage the sheave device D. For example, there is a risk of damage to at least one of the lifting-side sheave device Db and the support-side sheave device Da. [Example B2] Excessive tension in the rope R may damage the member (hoisting device) connecting the hook 83 of the assist crane 80 and the lifting-side sheave device Db. Specifically, for example, there is a risk of damage to the sling rope S1 (e.g., cutting) or damage to the joint (such as a shackle, not shown) to which the sling rope S1 is connected. If the hoisting device is damaged, there is a risk of the lifting-side sheave device Db falling. [Example B3] If the tension in the rope R becomes excessive, the assist crane 80 may be damaged. For example, the hook 83 may be damaged. If the hook 83 is damaged, the lifting sheave device Db may fall. Problems similar to those in [Example B1] to [Example B3] above may also occur when the payout speed Spw on the winch W side is too slow compared to the hoisting speed Spa on the assist crane 80 side when the sheave device D is deployed.

[0042] When the sheave device D is stored, if the winding speed Spw on the winch W side is too slow relative to the winding down speed Spa on the assist crane 80 side, the tension on the rope R will be too low (too loose). This may cause the rope R to become disorderly wound on the winch W, or the rope R may come off the sheave to which it is attached. These problems may also occur when the unwinding speed Spw on the winch W side is too fast relative to the winding up speed Spa on the assist crane 80 side when the sheave device D is deployed.

[0043] It is difficult to determine the tension of the rope R from the outside. Therefore, in order to prevent the problem of excessive or insufficient tension in the rope R, the sheave device storing and deploying system 1 operates as follows.

[0044] In the tension information detection step S21, rope state information is detected when the sheave device storing and deploying step S12 is performed. The rope state information is information related to the tension of the rope R. The rope state information is detected by a rope state information detection unit RS (see FIG. 3).

[0045] [Example C1] The rope state information may be the tension of the rope R. In this case, for example, a tension sensor 61 (see FIG. 3) detects the tension of the rope R and outputs the detected value to a controller 71 (see FIG. 3).

[0046] [Example C2] The rope status information may be the hoisting load of the assist crane 80. In this case, the assist crane hoisting load sensor 81 (see FIG. 3) detects the hoisting load of the assist crane 80 and outputs the detected value to the controller 71 (see FIG. 3). Specifically, for example, the hoisting load detected by the assist crane hoisting load sensor 81 is input to a controller (not shown) of the assist crane 80. The controller of the assist crane 80 then transmits (transfers) the hoisting load information to the controller 71 of the crane 10. The hoisting load detected by the assist crane hoisting load sensor 81 may be used directly in the tension information utilization step S30, or may be converted into the tension of the rope R and then used in the tension information utilization step S30. For example, if the load due to the mass of the hoisting-side sheave device Db is known in advance or can be calculated, the tension of the rope R can be calculated from the hoisting load of the assist crane 80.

[0047] [Example C3] The rope status information may be information about the shape of the rope R. For example, the rope status information may be information indicating whether the rope R is in a shape that is extended in a straight line due to tension, or whether the rope R is in a curved (loose, sagging) state. The rope status information may include information indicating the degree of curvature of the rope R. For example, the shape of the rope R may be detected by image processing of an image of the rope R taken by a camera (an example of a rope status information detection unit RS (see FIG. 3)) or the like.

[0048] In the tension information utilization step S30, processing (measures) is performed to prevent the tension of the rope R from becoming excessive. In the tension information utilization step S30, processing (measures) may also be performed to prevent the tension of the rope R from becoming too small. Specifically, in the tension information utilization step S30, at least one of notifying a worker (e.g., the operator of the crane 10) and controlling the drive of the winch W is performed based on the rope condition information detected in the tension information detection step S21. The tension information utilization step S30 includes a tension information notification step S31, a tension determination step S32, a warning step S33, and a winch drive restriction step S34.

[0049] In tension information notification step S31, the controller 71 shown in FIG. 3 causes the notification unit 73 to notify the rope status information ("tension" in FIG. 4). As described above, the notification unit 73 may notify by light (such as a screen display) or by sound (such as voice). The content of the notification by the notification unit 73 in tension information notification step S31 is, for example, as follows. [Example D1] The notification unit 73 may notify the value of the rope status information (rope tension information value). Specifically, for example, the notification unit 73 may notify the tension of the rope R detected by the tension sensor 61, or may notify the hoisting load detected by the assist crane hoisting load sensor 81, or may notify the tension of the rope R calculated based on this hoisting load. Furthermore, for example, the notification unit 73 may notify a value indicating the degree of curvature of the rope R. [Example D2] The notification unit 73 may issue a notification to prompt a worker (e.g., the operator of the crane 10) to properly synchronize the speed Spa (see FIG. 2) on the assist crane 80 side with the speed Spw (see FIG. 2) on the winch W side. For example, the notification unit 73 may issue a notification to prompt the worker to slow down or speed up the speed Spw on the winch W side.

[0050] In tension determination step S32, the controller 71 determines whether the value of the rope status information (rope tension information value) ("tension" in FIG. 4) detected in tension information detection step S21 is within a predetermined range (a range in which notification is not required, a range in which restriction is not required). An upper limit (threshold value) may be set for the "predetermined range," a lower limit (threshold value) may be set, or an upper limit and a lower limit may be set. The controller 71 may determine whether the rope tension information value exceeds the upper limit (whether the tension is excessive). The controller 71 may determine whether the rope tension information value is less than the lower limit (whether the tension is too small). The "predetermined range" is set in advance in the controller 71 (before this determination is made). If the rope tension information value is within the predetermined range (in the case of NO), the controller 71 causes the process flow to proceed to completion determination step S41. If the rope tension information value is outside the predetermined range (in the case of YES), the controller 71 may perform a warning step S33 or a winch drive restriction step S34.

[0051] In warning step S33, if the rope tension information value is outside a predetermined range (outside a predetermined warning-unnecessary range), the controller 71 causes the notification unit 73 to issue a warning to a worker (for example, the operator of the crane 10 (see FIG. 2)). The "warning" issued by the notification unit 73 is included in the "notification" issued by the notification unit 73. The contents of the warning issued by the notification unit 73 in warning step S33 are, for example, as follows:

[0052] [Example E1] The notification unit 73 may issue a warning regarding the rope tension information value. For example, the notification unit 73 may issue a warning that the tension of the rope R is excessively large or too small. Specifically, the notification unit 73 may issue a warning that the tension of the rope R is outside a predetermined range (outside a range where a warning is not required). Also, for example, the notification unit 73 may issue a warning that the lifting load of the assist crane 80 is outside a predetermined range (outside a range where a warning is not required).

[0053] [Example E2] The notification unit 73 may issue a warning to urge the driver to operate the winch W so that the tension in the rope R does not become too high or too low.

[0054] [Example E2a] For example, if the speed Spw (see FIG. 2) on the winch W side is too fast relative to the speed Spa (see FIG. 2) on the assist crane 80 side, the notification unit 73 may issue a notification urging the user to slow down the speed Spw on the winch W side or stop the winch W. For example, if the speed Spw on the winch W side is too fast relative to the speed Spa on the assist crane 80 side, the notification unit 73 may issue a notification urging the user to speed up the speed Spa on the assist crane 80 side.

[0055] [Example E2b] Furthermore, for example, if the speed Spw (see FIG. 2) on the winch W side is too slow relative to the speed Spa (see FIG. 2) on the assist crane 80 side, the notification unit 73 may issue a notification urging the speed Spw on the winch W side to be increased. For example, if the speed Spw on the winch W side is too slow relative to the speed Spa on the assist crane 80 side, the notification unit 73 may issue a notification urging the speed Spa on the assist crane 80 side to be slowed down or stopped.

[0056] [Example E3] The notification unit 73 may issue a warning regarding the drive restriction of the winch W in the winch drive restriction step S34. For example, the notification unit 73 may issue a warning that the drive restriction of the winch W will be implemented, or may issue a warning regarding the details of the drive restriction of the winch W.

[0057] In the winch drive limiting step S34, when the rope tension information value is outside the predetermined range (outside the predetermined limit-free range), the controller 71 limits (automatically limits and controls) the drive of the winch W. At this time, the controller 71 outputs a command to the winch drive unit 63 to limit the drive of the winch W. The controller 71 limits the drive of the winch W to a side that eliminates the state in which the tension of the rope R is excessively high or too low. For example, the controller 71 limits the drive of the winch W to a side that keeps the rope tension information value within the predetermined range (predetermined limit-free range).

[0058] [Example F1] If the speed Spw (see FIG. 2) on the winch W side is too fast compared to the speed Spa (see FIG. 2) on the assist crane 80 side, the controller 71 performs the following control. [Example F1a] For example, the controller 71 may slow down the speed Spw on the winch W side. [Example F1b] For example, the controller 71 may stop the winch W. [Example F1c] For example, the controller 71 may set an upper limit value for the speed Spw on the winch W side to be smaller than when the drive of the winch W is not restricted (unrestricted). For example, the controller 71 may drive the winch W in response to the operation of the operator at a speed lower than the upper limit value of the speed Spw on the winch W side.

[0059] [Example F2] If the speed Spw (see FIG. 2) on the winch W side is too slow compared to the speed Spa (see FIG. 2) on the assist crane 80 side, the controller 71 performs the following control. [Example F2a] For example, the controller 71 may accelerate the speed Spw on the winch W side. [Example F2b] For example, the controller 71 may set the lower limit value of the speed Spw on the winch W side to be smaller than when the drive of the winch W is not restricted (unrestricted). For example, the controller 71 may drive the winch W in response to the operation of the operator at a speed lower than the lower limit value of the speed Spw on the winch W side.

[0060] If the rope tension information value is outside a predetermined range (outside a predetermined no-limit range), the controller 71 may control the speed Spa (see FIG. 2) on the assist crane 80 side. If the speed Spw (see FIG. 2) on the winch W side is too fast relative to the speed Spa on the assist crane 80 side, the controller 71 may increase the speed Spa on the assist crane 80 side. Specifically, for example, the controller 71 sends an instruction to the controller (not shown) of the assist crane 80 to increase the speed of the winch (not shown) that lowers the hook 83 (see FIG. 2). Then, the controller of the assist crane 80 increases the speed of the winch (not shown) that lowers the hook 83. Also, if the speed Spw on the winch W side is too slow relative to the speed Spa on the assist crane 80 side, the controller 71 may reduce the speed Spa on the assist crane 80 side.

[0061] (Relationship between ranges where no warning is required and ranges where no restriction is required) The relationship between the predetermined range (warning-free range) for determining whether to issue a warning in warning step S33 and the predetermined range (restriction-free range) for determining whether to restrict the drive of the winch W in winch drive restriction step S34 is, for example, as follows: [Example G1] The warning-free range and the restriction-free range may be the same range. For example, when the rope tension information value falls outside the predetermined range, a warning may be issued in warning step S33 and drive restriction of the winch W may be performed in winch drive restriction step S34. [Example G2] The warning-free range and the restriction-free range may be different ranges. For example, the warning-free range may be set within the restriction-free range. [Example G2a] More specifically, the upper limit (threshold) of the warning-free range may be set smaller than the upper limit (threshold) of the restriction-free range. In this case, when the rope tension information value exceeds the upper limit of the warning-free range from within the warning-free range, a warning is issued in warning step S33. Then, when the rope tension information value further increases and exceeds the upper limit of the restriction-free range, drive restriction of the winch W may be performed in winch drive restriction step S34. [Example G2b] The lower limit (threshold) of the range in which no warning is required may be set to be greater than the lower limit (threshold) of the range in which no restriction is required (see [Example G2a] for details).

[0062] In the completion determination step S41, the controller 71 determines whether the work of storing and deploying the sheave device D has been completed (whether the winding of the rope R has been completed in FIG. 4). For example, the completion of the work of storing and deploying the sheave device D may be determined based on the position of the support side sheave device Da shown in FIG. 2, or may be determined based on the size of the gap between the support side sheave device Da and the lifting side sheave device Db. For example, the completion of the work of storing and deploying the sheave device D may be determined based on whether the mode for storing and deploying the sheave device D has been turned "off" in the controller 71 (see FIG. 3). If the work of storing and deploying the sheave device D has been completed (if YES), the flow ends. If the work of storing and deploying the sheave device D has not been completed (if NO), the flow returns to the sheave device storing and deploying step S12, and the operation of the winch W continues.

[0063] This completion determination step S41 is performed when the rope tension information value is within a predetermined range (NO in tension determination step S32). When the rope tension information value is outside the predetermined range (YES in tension determination step S32), completion determination step S41 may be performed when at least one of the warning step S33 and the winch drive limiting step S34 is performed. Note that completion determination step S41 does not have to be performed (the controller 71 does not have to know that the retracting and deploying work of the sheave device D has been completed).

[0064] (Effects of the first invention) The effects of the sheave device storing and deploying method for the crane 10 shown in Figure 2 are as follows. The crane 10 is equipped with a rope R, a winch W, and a lifting-side sheave device Db. The winch W winds in and pays out the rope R. The lifting-side sheave device Db has a sheave around which the rope R is hung. The sheave device storing and deploying method includes a sheave device storing and deploying step S12 (see Figure 4, and the same applies to each of the following steps), a tension information detecting step S21, and a tension information utilizing step S30. In the sheave device storing and deploying step S12, the winch W winds in and pays out the rope R while the lifting-side sheave device Db is lifted by the assist crane 80.

[0065] [Configuration 1] The tension information detection step S21 detects rope state information of the rope R when the sheave device storing and deploying step S12 is performed. The tension information utilization step S30 performs at least one of notifying the operator and controlling the drive of the winch W based on the rope state information detected in the tension information detection step S21.

[0066] In the above [Configuration 1], at least one of notification to the worker and drive control of the winch W is performed based on the rope status information. When notification to the worker based on the rope status information (e.g., tension information notification step S31, warning step S33) is performed, the worker can be notified so as to prevent excessive tension in the rope R. As a result, excessive tension in the rope R can be prevented when the lifting-side sheave device Db is retracted and deployed. Furthermore, when control of the drive of the winch W based on the rope status information (e.g., winch drive limiting step S34) is performed, drive control of the winch W can be performed so as to prevent excessive tension in the rope R. As a result, excessive tension in the rope R can be prevented when the lifting-side sheave device Db is retracted and deployed.

[0067] (Effects of the second invention) [Configuration 2] The rope state information detected in tension information detection step S21 is the tension of the rope R.

[0068] The above [Configuration 2] provides the following advantages compared to when the rope state information is information that indirectly indicates the tension of the rope R (for example, the lifting load of the assist crane 80): At least one of notification and control of the drive of the winch W can be performed with high accuracy so as to prevent the tension of the rope R from becoming excessive.

[0069] (Effect of the third invention) [Configuration 3] The tension of the rope R detected in tension information detection step S21 is detected by a tension sensor 61 (see FIG. 3) that detects the force acting on the shaft of the sheave around which the rope R is hung.

[0070] The above [Configuration 3] makes it possible to detect the tension of the rope R with higher accuracy than, for example, when converting the load acting on the winch W into the tension of the rope R. As a result, it is possible to more accurately perform at least one of notification and control of the drive of the winch W so as to prevent the tension of the rope R from becoming excessive.

[0071] (Effect of the fourth invention) [Configuration 4] The rope condition information detected in the tension information detection step S21 is the lifting load of the assist crane 80.

[0072] The above [Configuration 4] provides the following effect. The lifting load of the assist crane 80 is the sum of the tension of the rope R and the load due to the mass of the lifting side sheave device Db. Therefore, the lifting load of the assist crane 80 correlates with the tension of the rope R. Therefore, even when the rope condition information detected in tension information detection step S21 is the lifting load of the assist crane 80, the same effect as the above "(Effect of the first invention)" can be obtained.

[0073] When the "notification to the worker" of [Configuration 1] above is performed and this worker is the operator of the crane 10, the following effect can be obtained by the above [Configuration 1] and [Configuration 4]: In this case, the operator of the crane 10 can be notified of the lifting load of an assist crane 80 that is different from the crane 10 that this operator is operating.

[0074] (Effect of the fifth invention) [Configuration 5] In the tension information utilizing step S30, if the value of the rope condition information detected in the tension information detecting step S21 is outside a predetermined range in which no warning is required, a warning is issued to the worker.

[0075] In the above [Configuration 5], if the value of the rope condition information falls outside the warning unnecessary range, a warning is issued to the worker. As a result, if the worker who receives the warning takes appropriate action, it is possible to prevent the tension in the rope R from becoming excessive.

[0076] (Effect of the sixth aspect of the invention) [Configuration 6] In tension information utilization step S30, the controller 71 of the crane 10 limits the driving of the winch W when the value of the rope condition information detected in tension information detection step S21 is outside a predetermined no-limit range.

[0077] In the above [Configuration 6], even when the value of the rope state information falls outside the warning-free range (when the tension in the rope R becomes excessive), the drive of the winch W is restricted. Therefore, it is possible to more reliably prevent the tension in the rope R from becoming excessive, without leaving the management of the tension in the rope R to a worker (for example, the operator of the crane 10).

[0078] (Effect of the seventh invention) [Configuration 7] The lifting side sheave device Db is equipped with an upper spreader (e.g., boom hoisting upper spreader 33b) that hoists a hoisting member (e.g., boom 20) that is hoistably attached to a structure (e.g., upper rotating body 13) of the crane 10.

[0079] According to the above [Configuration 7], when the hoisting side sheave device Db is provided with an upper spreader (for example, the boom hoisting upper spreader 33b), the above "(Effect of the first invention)" can be obtained.

[0080] (Second embodiment) The differences between the sheave device storage and deployment system 201 of the second embodiment and the first embodiment will be described mainly with reference to Fig. 2. Note that, among the sheave device storage and deployment system 201 of the second embodiment, the description of the common points with the first embodiment will be omitted. The same applies to the descriptions of the other embodiments described later.

[0081] In the first embodiment, as shown by the solid line in Fig. 2, the sheave device D was stored and deployed in a state in which the lifting sheave device Db (specifically, the boom hoist upper spreader 33b) was positioned directly or substantially directly above the gantry 31. On the other hand, in this embodiment, the lifting sheave device Db (specifically, the boom hoist upper spreader 33b) is shown by a two-dot chain line in Fig. 2. In this embodiment, the sheave device D is stored and deployed when the lifting sheave device Db is moved between the boom back surface 20b of the lower boom 21 and the boom back surface 20b of the intermediate boom 23. In this case, as in the first embodiment, the tension information detection step S21 and the tension information utilization step S30 are performed, thereby preventing the tension in the rope R from becoming excessive.

[0082] The reason why the lifting sheave assembly Db is moved between the boom back surface 20b of the lower boom 21 and the boom back surface 20b of the intermediate boom 23 is, for example, as follows. For example, when the crane 10 is of the "crane specification," the length of the boom guy line 35 (see FIG. 1) is normally the length from the tip of the lower boom 21 to the upper boom 25 (tip of the boom 20). Therefore, when attaching or detaching the boom guy line 35 to the boom hoist upper spreader 33b, the boom hoist upper spreader 33b may be placed on the boom back surface 20b at the tip of the lower boom 21. On the other hand, when the crane 10 is of the "tower specification" or "luffing specification," the following problem may arise with a boom guy line 35 of the above length (see FIG. 1). In this case, even if the distance between the boom hoist lower spreader 33a and the boom hoist upper spreader 33b is reduced, the boom 20 may not be able to be raised to the desired angle. The "desired angle" is, for example, an angle at which the central axis of the boom 20 extending in the longitudinal direction of the boom 20 is perpendicular or approximately perpendicular to the ground. Therefore, a boom guy line 35 shorter than the boom guy line 35 of the above-mentioned length (see FIG. 1) may be used. In this case, when assembling the crane 10, the boom hoisting upper spreader 33b may be moved from a stored position (e.g., the boom back surface 20b at the tip of the lower boom 21) to a position where it is attached to and detached from the boom guy line 35 (e.g., the boom back surface 20b of the intermediate boom 23). Furthermore, when disassembling the crane 10, the boom hoisting upper spreader 33b may be moved from the attached and detached position to the stored position. In this way, the lifting side sheave unit Db may be moved between the boom back surface 20b of the lower boom 21 and the boom back surface 20b of the intermediate boom 23.

[0083] (Third embodiment) With reference mainly to Figs. 1 and 5, a sheave device storing and deploying system 301 according to the third embodiment will be described, focusing mainly on the differences from the first embodiment.

[0084] In the example shown in Fig. 2 (one example of the first embodiment), the sheave device D is the boom hoist spreader 33, and the lifting side sheave device Db is the boom hoist upper spreader 33b. On the other hand, as shown in Fig. 5, in this embodiment, the sheave device D is a strut 351, and the lifting side sheave device Db is a rear strut 351b. The crane 10 of the sheave device storage and deployment system 301 of the third embodiment includes the jib 340 and the jib hoist device 350 shown in Fig. 1.

[0085] The jib 340 (hoisting member) is attached to the tip of the boom 20 so that it can be raised and lowered (rotated up and down). The jib 340 comprises a lower jib 341, an intermediate jib 343, and an upper jib 345. The lower jib 341 is disposed at the base end of the jib 340 (the end attached to the boom 20). The intermediate jib 343 is connected to the tip of the lower jib 341 (the end opposite to the side attached to the boom 20). The upper jib 345 is connected to the tip of the intermediate jib 343, and is disposed at the tip of the jib 340.

[0086] The jib hoisting device 350 is a device that raises and lowers the jib 340 relative to the boom 20. The jib hoisting device 350 includes a strut 351, a jib guy line 353, a strut guy line 355, a jib hoist rope 357 (rope R), and a jib hoisting winch 359 (winch W).

[0087] The strut 351 (sheave device D) has a sheave around which the rope R (more specifically, the jib hoisting rope 357) is hung. The strut 351 includes a front strut 351a and a rear strut 351b. The front strut 351a (support side sheave device Da) has a sheave (e.g., multiple sheaves) around which the rope R is hung. The front strut 351a may be rotatably attached to the tip of the boom 20, or may be rotatably attached to the base end of the jib 340. When the crane 10 is in a posture ready for work (crane posture), the front strut 351a is positioned above and forward X1 of the rear strut 351b. The rear strut 351b (lifting side sheave device Db) has a sheave (e.g., multiple sheaves) around which the rope R is hung, and is rotatably attached to the tip of the boom 20.

[0088] When the crane 10 is in the working posture, the jib guy line 353 is connected to the tip of the front strut 351a and the tip of the jib 340. When the crane 10 is in the working posture, the strut guy line 355 is connected to the tip of the rear strut 351b and the boom 20.

[0089] The jib hoist rope 357 (rope R) is hung (for example, routed) around the sheave of the rear strut 351b and the sheave of the front strut 351a.

[0090] The jib hoist winch 359 (winch W) is mounted on the upper rotating body 13 or the boom 20 (e.g., the lower boom 21). The jib hoist winch 359 winds and unwinds the jib hoist rope 357. This changes the distance between the tip of the rear strut 351b and the tip of the front strut 351a. This causes the front strut 351a to rise and fall relative to the boom 20. When the crane 10 is in the working position, the tip of the front strut 351a and the tip of the jib 340 are connected by the jib guy line 353. Therefore, when the front strut 351a rises and falls relative to the boom 20, the jib 340 rises and falls relative to the boom 20.

[0091] The configuration of the jib hoisting device 350 can be modified in various ways. For example, a strut 451 (see FIG. 6) in which a front strut 351a and a rear strut 351b are fixed to each other may be provided (described later). Furthermore, the jib 340 does not have to be raised or lowered relative to the boom 20 when the crane 10 is operating.

[0092] (Activation) The operation of the sheave device storing and deploying system 301 shown in FIG. 5 will be described with respect to differences from the first embodiment.

[0093] Before the strut 351 (sheave device D) is stored and deployed, the assist crane 80 lifts the lifting sheave device Db (rear strut 351b). More specifically, in the state shown in FIG. 5, the boom 20 is in a lowered position. The jib 340 (e.g., the lower jib 341) is disposed so as to extend from the boom 20 to the front side X1 and is supported, for example, by the ground from below. The front strut 351a is disposed in a lowered position and is supported from below by the lower jib 341. The front strut 351a is fixed (stored) to, for example, the lower jib 341. The rear strut 351b is separated from the strut guy line 355 (see FIG. 1). The rear strut 351b is lifted by the assist crane 80 and disposed so as to protrude upward from the tip of the boom 20.

[0094] In the sheave device storing and deploying step S12 (see FIG. 4, the same applies to the other steps), the following operations are performed.

[0095] [Example A31] When the rear strut 351b (lifting side sheave device Db) is stored, the winch W winds up the rope R, and at the same time, the assist crane 80 moves the tip of the rear strut 351b forward X1 and winds it down. Then, the tip of the rear strut 351b moves forward X1 and downward, approaching the tip of the front strut 351a. Then, the rear strut 351b is lowered.

[0096] [Example A32] When the rear strut 351b (hoisting side sheave device Db) is deployed, the operation is reversed from when the rear strut 351b is retracted. For example, the assist crane 80 winds up the tip of the rear strut 351b at the same time that the winch W unwinds the rope R. This causes the tip of the rear strut 351b to move rearward X2 and upward, separating from the tip of the front strut 351a. This causes the rear strut 351b to rise.

[0097] (tuning) When the sheave device D is stored and deployed (sheave device storing and deploying step S12), if the tension in the rope R becomes too high or too low, problems similar to those in the first embodiment may occur. Furthermore, if the tension in the rope R is too high, a force acts on the front strut 351a in a direction that lifts the front strut 351a. This may result in problems such as damage to the fixed portion between the front strut 351a and the lower jib 341. On the other hand, in the sheave device storing and deploying system 301, as in the first embodiment, the tension information detecting step S21 and the tension information utilizing step S30 are performed, thereby making it possible to prevent the tension in the rope R from becoming too high or too low.

[0098] (Effect of the eighth aspect of the invention) [Configuration 8] The effects of the sheave device storing and deploying method in the sheave device storing and deploying system 301 shown in Figure 5 are as follows: The lifting side sheave device Db has a strut 351 (e.g., rear strut 351b) that raises and lowers the jib 340 (see Figure 1) that is attached to the boom 20 so that it can be raised and lowered.

[0099] According to the above [Configuration 8], when the lifting side sheave device Db is provided with the strut 351 (for example, the rear strut 351b), the above "(Effect of the first invention)" can be obtained.

[0100] (Fourth embodiment) With reference mainly to FIG. 6, a sheave device storing and deploying system 401 according to the fourth embodiment will be described, focusing mainly on the differences from the first and third embodiments.

[0101] In the example shown in FIG. 1 (an example of the third embodiment), the strut 351 raises and lowers the jib 340 by changing the distance between the front strut 351a and the rear strut 351b. On the other hand, as shown in FIG. 6, in this embodiment, the strut 451 raises and lowers (rotates) the jib 340 by integrally raising and lowering (rotating) the front strut 451a, the rear strut 451b, and the connecting member 451c relative to the boom 20. Also, in the example shown in FIG. 1 (an example of the first embodiment), the sheave unit D was the boom hoist spreader 33, and the hoisting-side sheave unit Db was the boom hoist upper spreader 33b. On the other hand, as shown in FIG. 6, in this embodiment, the sheave unit D is the jib hoist spreader 456, and the hoisting-side sheave unit Db is the jib hoist upper spreader 456b (upper spreader).

[0102] The jib hoisting device 450 includes a strut 451, a jib guy line 453, a strut guy line 455, a jib hoisting spreader 456, a jib hoisting rope 457 (rope R), and a jib hoisting winch 459 (winch W).

[0103] The strut 451 is rotatably attached to the tip of the boom 20. The strut 451 is, for example, a triangular structure when viewed from the side. The strut 451 includes a front strut 451a, a rear strut 451b, and a connecting member 451c. The connecting member 451c connects the front strut 451a and the rear strut 451b to each other. When the jib 340 is raised and lowered, the distance between the front strut 451a and the rear strut 451b is constant.

[0104] When the crane 10 is in the working posture, the jib guy line 453 is connected to the tip of the front strut 451a and the tip of the jib 340 (similar to the third embodiment). When the crane 10 is in the working posture, the strut guy line 455 is connected to the tip of the rear strut 451b and the jib hoist upper spreader 456b.

[0105] The jib hoist spreader 456 (sheave unit D) includes a jib hoist lower spreader 456a (support side sheave unit Da) and a jib hoist upper spreader 456b (hoisting side sheave unit Db, upper spreader). The jib hoist lower spreader 456a includes a sheave (e.g., multiple sheaves) around which the rope R is hung, and is attached to the boom 20 (e.g., the boom back surface 20b). The jib hoist upper spreader 456b includes a sheave (e.g., multiple sheaves) around which the rope R is hung. When the crane 10 is in the working posture, the jib hoist upper spreader 456b is disposed between the rear strut 451b and the jib hoist lower spreader 456a.

[0106] The jib hoisting rope 457 (rope R) is looped around the sheave of the jib hoisting lower spreader 456a and the sheave of the jib hoisting upper spreader 456b.

[0107] Jib hoisting winch 459 (Winch W) ,above The jib hoisting winch 459 is mounted on the external rotating bed 13 or the boom 20. A jib hoisting winch 459 winds and unwinds the jib hoist rope 457. This changes the distance between the jib hoist lower spreader 456a and the jib hoist upper spreader 456b. This causes the strut 451 to rise and fall relative to the boom 20. When the crane 10 is in the working position, the tip of the front strut 451a and the tip of the jib 340 are connected by a jib guy line 453. Therefore, when the strut 451 rises and falls relative to the boom 20, the jib 340 rises and falls relative to the boom 20.

[0108] It is also possible to provide only one strut 451. In this case, the jib guy line 453 and the strut guy line 455 are connected to the tip of the single strut 451.

[0109] (Activation) Before the sheave unit D is stored and deployed, the assist crane 80 lifts up the hoisting side sheave unit Db. In the state shown by the solid lines in FIG. 6, the boom 20 is in a lowered position. The jib hoist upper spreader 456b is detached from the strut guy line 455 (shown by the two-dot chain line in FIG. 6). The jib hoist upper spreader 456b is lifted up by the assist crane 80. In the example shown in FIG. 6, the jib hoist upper spreader 456b is positioned directly above or approximately directly above the jib hoist lower spreader 456a.

[0110] With the jib hoisting upper spreader 456b hoisted by the assist crane 80, the above-mentioned sheave device storing and deploying step S12 (see Figure 4, similar to other steps), tension information detecting step S21, and tension information utilizing step S30 are carried out.

[0111] (Fifth embodiment) Referring to FIG. 7, a sheave device storing and deploying system 501 according to the fifth embodiment will be described, focusing mainly on the differences from the first embodiment.

[0112] In the example shown in Fig. 1 (one example of the first embodiment), the boom hoisting device 30 includes a gantry 31. On the other hand, as shown in Fig. 7, in this embodiment, the boom hoisting device 530 includes a mast 531 (hoisting-side sheave device Db).

[0113] The boom hoisting device 530 includes a mast 531, a boom hoisting lower spreader 532 (support side sheave device Da), a boom guy line 535, a boom hoisting rope 537 (rope R), and a boom hoisting winch 539 (winch W).

[0114] The mast 531 (lifting sheave device Db) is attached to the upper rotating body 13 so as to be able to rise and fall. The mast 531 includes a sheave (mast sheave 531s) (for example, a plurality of sheaves) around which the rope R is wound.

[0115] The boom hoisting lower spreader 532 (support side sheave device Da) is provided at the rear side X2 end of the upper rotating body 13, and includes a sheave (e.g., multiple sheaves) around which the rope R is hung. The mast sheave 531s is included in the "upper spreader" (see [Configuration 7] above). The mast 531 (lifting side sheave device Db) and the boom hoisting lower spreader 532 (support side sheave device Da) form a sheave device D.

[0116] The boom guy line 535 is connected to the tip of the mast 531 and the tip of the boom 20 when the crane 10 is in the working position.

[0117] The boom hoisting rope 537 (rope R) is looped around the sheave of the mast 531 (mast sheave 531 s) and the sheave of the boom hoisting lower spreader 532 .

[0118] The boom hoist winch 539 (winch W) is mounted on, for example, the upper rotating body 13. The boom hoist winch 539 winds and unwinds the boom hoist rope 537. This changes the distance between the boom hoist lower spreader 532 and the tip of the mast 531. This causes the mast 531 to rise and fall relative to the upper rotating body 13. When the crane 10 is in the working position, the tip of the mast 531 and the tip of the boom 20 are connected by the boom guy line 535, so when the mast 531 rises and falls relative to the upper rotating body 13, the boom 20 rises and falls relative to the upper rotating body 13.

[0119] In the sheave device storage and deployment step S12 (see FIG. 4), the following operations are carried out.

[0120] [Example A51] When storing the mast 531, the winch W winds up the rope R and the assist crane 80 simultaneously winds down the lifting sheave device Db. This brings the tip of the mast 531 closer to the boom hoisting lower spreader 532. This causes the mast 531 to be lowered relative to the upper rotating body 13.

[0121] [Example A52] When the mast 531 is deployed, the reverse operation to that when the mast 531 is stored is performed. For example, the assist crane 80 winds up the lifting-side sheave device Db at the same time that the winch W pays out the rope R. Then, the lifting-side sheave device Db separates from the support-side sheave device Da. Then, the mast 531 is raised relative to the upper rotating body 13.

[0122] (Sixth embodiment) With reference to Fig. 2 etc., the sheave device storing and deploying system 601 of the sixth embodiment will be described, mainly focusing on the differences from the first embodiment. In the first embodiment, the controller 71 (see Fig. 3) sometimes limited the drive of the winch W to the side that would resolve the state in which the tension in the rope R was excessive or insufficient (winch drive limiting step S34 (see Fig. 4, similar to other steps)). On the other hand, in this embodiment, the controller 71 (see Fig. 3) automatically controls the drive of the winch W.

[0123] More specifically, in tension information utilization step S30, the controller 71 (see FIG. 3) controls (automatically controls) the drive of the winch W so that the value of the rope state information detected in tension information detection step S21 falls within a predetermined appropriate tension range. At this time, the controller 71 controls the speed at which the winch W winds and pays out the rope R.

[0124] Specifically, for example, the controller 71 may control the driving of the winch W in accordance with the position of the lifting-side sheave unit Db. Specifically, for example, the position of the lifting-side sheave unit Db relative to the ground or a structure of the crane 10 (e.g., the upper rotating body 13) may be detected. Then, for example, the controller 71 may calculate an appropriate position range for the lifting-side sheave unit Db in accordance with the amount of rope R wound in. If the tension in the rope R is excessively high or too low, the lifting-side sheave unit Db will be outside the appropriate position range. Therefore, the controller 71 may control (automatically control) the speed at which the rope R is wound and unwound by the winch W so that the lifting-side sheave unit Db is positioned within the appropriate position range.

[0125] Furthermore, for example, the controller 71 may control the driving of the winch W in accordance with the tension of the rope R. Specifically, for example, the controller 71 may determine, based on a change in the tension of the rope R, whether the speed Spw of the winch W side relative to the speed Spa of the assist crane 80 side has changed to be faster or slower. Then, when the speed Spw of the winch W side has changed to be faster relative to the speed Spa of the assist crane 80 side, the controller 71 may perform control to change the speed Spw of the winch W side to be slower. Furthermore, for example, when the speed Spw of the winch W side has changed to be slower relative to the speed Spa of the assist crane 80 side, the controller 71 may perform control to change the speed Spw of the winch W side to be faster.

[0126] The "appropriate tension range" is set in the controller 71 (see FIG. 3), for example, in the same way as the "no-restriction range." Both the no-restriction range and the appropriate tension range may be set in the controller 71. The appropriate tension range may be narrower than the no-restriction range. More specifically, when an upper limit is set for the appropriate tension range, the upper limit of the appropriate tension range may be set lower than the upper limit of the no-restriction range. When a lower limit is set for the appropriate tension range, the lower limit of the appropriate tension range may be set higher than the lower limit of the no-restriction range.

[0127] The controller 71 (see FIG. 3) may control (automatically control) the drive of a winch (not shown) that hoists and lowers the hook 83 of the assist crane 80 so that the value of the rope status information falls within a predetermined appropriate tension range. Specifically, for example, the controller 71 sends a command to the controller (not shown) of the assist crane 80 to control the winch of the assist crane 80. Then, the controller of the assist crane 80 may control the hoisting and lowering of the hook 83 of the assist crane 80.

[0128] (Effect of the ninth invention) [Configuration 9] The effects of the sheave device storing and deploying method in the sheave device storing and deploying system 601 shown in Figure 2 are as follows: In the tension information utilizing step S30, the controller 71 (see Figure 3) of the crane 10 controls the driving of the winch W so that the value of the rope condition information detected in the tension information detecting step S21 falls within a predetermined appropriate tension range.

[0129] In the above [Configuration 9], the winch W is controlled so that the value of the rope state information falls within an appropriate tension range. Therefore, it is possible to more reliably prevent the tension of the rope R from becoming excessive, without leaving the management of the tension of the rope R to a worker (for example, the operator of the crane 10).

[0130] (Variation) The above-described embodiments may be modified in various ways. For example, components (including modified examples) of different embodiments may be combined with each other. For example, the number of components of the above-described embodiments may be changed, or some of the components may not be provided. For example, modified examples of the above-described embodiments may be combined with each other in various ways. For example, components may be fixed or connected directly or indirectly to each other. For example, the connections between the components shown in FIG. 3 may be changed. For example, the inclusion relationships between components may be changed in various ways. For example, a component described as a lower-level component included in a higher-level component may not be included in this higher-level component, but may be included in another component. For example, what is described as multiple different components or parts may be combined into a single component or part. For example, what is described as a single component or part may be provided as multiple different components or parts. For example, various parameters (thresholds, ranges, etc.) may be preset in the controller 71 or may be directly set by manual operation by an operator. For example, various parameters may not be changeable, may be changeable by manual operation, or may be automatically changed by the controller 71 in response to certain conditions. For example, the order of the steps in the flowchart shown in Figure 4 may be changed, or some of the steps may not be performed. For example, each component may have only some of its characteristics (functions, arrangements, shapes, operations, etc.). [Explanation of symbols]

[0131] 10 Crane 20 Boom (elevating member) 33b Boom hoist upper spreader (upper spreader) 61 Tension sensor 71 Controller 80 Assist Crane 340 Jib (elevating member) 351, 451 strut 456b Jib hoist upper spreader (upper spreader) 531s Mast Sheave (Upper Spreader) Db Lifting sheave device R rope Winch

Claims

1. Rope and a winch for winding and unwinding the rope; a lifting sheave device having a sheave on which the rope is hung; A method for storing and deploying a sheave device in a crane comprising: a sheave device storing and deploying step in which the winch winds and unwinds the rope while the lifting side sheave device is lifted by the assist crane; a tension information detection step of detecting rope state information of the rope when the sheave device storing and deploying step is performed; a tension information utilizing step of controlling the drive of the winch based on the rope state information detected in the tension information detecting step; Equipped with The tension information utilization step, when the value indicating the rope status information is outside a predetermined restriction-free range, performs drive control of the winch, and the crane controller controls the hoisting or lowering speed of the assist crane. Sheave device storage and deployment method.

2. Rope and a winch for winding and unwinding the rope; a lifting sheave device having a sheave on which the rope is hung; A method for storing and deploying a sheave device in a crane comprising: a sheave device storing and deploying step in which the winch winds and unwinds the rope while the lifting side sheave device is lifted by the assist crane; a tension information detection step of detecting rope state information of the rope when the sheave device storing and deploying step is performed; a tension information utilizing step of controlling the drive of the winch based on the rope state information detected in the tension information detecting step; Equipped with The tension information utilization step calculates a range of appropriate positions of the lifting side sheave device according to the amount of winding of the rope, and controls the speed of winding and unwinding of the rope by the winch so that the lifting side sheave device is positioned within the appropriate range of positions. Sheave device storage and deployment method.

3. The sheave device storage and deployment method according to claim 1 or 2, In the tension information utilizing step, a controller of the crane controls driving of the winch so that the value of the rope state information detected in the tension information detecting step falls within a predetermined appropriate tension range. Sheave device storage and deployment method.

4. The sheave device storage and deployment method according to any one of claims 1 to 3, The rope state information detected in the tension information detection step is the lifting load of the assist crane. Sheave device storage and deployment method.

5. The sheave device storage and deployment method according to any one of claims 1 to 3, The rope state information detected in the tension information detection step is the tension of the rope. Sheave device storage and deployment method.

6. Rope and a winch for winding and unwinding the rope; a lifting sheave device having a sheave on which the rope is hung; A method for storing and deploying a sheave device in a crane comprising: a sheave device storing and deploying step in which the winch winds and unwinds the rope while the lifting side sheave device is lifted by the assist crane; a tension information detection step of detecting rope state information of the rope when the sheave device storing and deploying step is performed; a tension information utilizing step of controlling the drive of the winch based on the rope state information detected in the tension information detecting step; Equipped with The rope state information detected in the tension information detection step is the tension of the rope, In the tension information utilizing step, a controller of the crane controls driving of the winch so that the value of the rope state information detected in the tension information detecting step falls within a predetermined appropriate tension range; The tension information utilizing step includes: Based on the change in tension of the rope, it is determined whether the speed of the winch side at which the rope is let out or taken up has changed faster or slower relative to the speed of the assist crane side at which the rope is hoisted up or down; When the speed of the winch side is changed to be faster than the speed of the assist crane side, control is performed to change the speed of the winch side to be slower, When the speed of the winch side is changed to be slower than the speed of the assist crane side, control is performed to change the speed of the winch side to be faster. Sheave device storage and deployment method.

7. The sheave device storage and deployment method according to any one of claims 1 to 6, In the tension information utilizing step, when the value of the rope condition information detected in the tension information detecting step is outside a predetermined restriction-free range, a controller of the crane restricts driving of the winch. Sheave device storage and deployment method.

8. The sheave device storage and deployment method according to any one of claims 1 to 7, The lifting side sheave device is an upper spreader that raises and lowers a raising and lowering member that is attached to the structure of the crane in a raiseable manner. Sheave device storage and deployment method.

9. The sheave device storage and deployment method according to any one of claims 1 to 7, The lifting side sheave device is a strut that raises and lowers a jib that is attached to the boom in a hoistable manner. Sheave device storage and deployment method.

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