Monitoring equipment and cranes

Abstract

To provide a monitoring device capable of reducing blind spots that cannot be monitored.SOLUTION: A monitoring device 10 is used for a mobile crane equipped with an upper rotating body 102, and a counterweight 106 detachably attached to the rear of the upper rotating body 102. The monitoring device 10 has a camera 70 as a surrounding information sensor for acquiring surrounding information, and a moving mechanism 20 that is attached to a frame 102b at the rear of the upper rotating body 102 and moves the surrounding information sensor in the forward and backward directions. The moving mechanism 20 moves the surrounding information sensor in the forward and backward directions between a first position P1 proximal to the frame 102b and a second position P2 distal to the rear of the frame 102b.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a wheel crane. A camera is attached to the rear of the revolving superstructure of the wheel crane via a tilt mechanism, and the tilt mechanism is interlocked with a claw link that holds the counterweight to the rear of the revolving superstructure. When the claw link is driven by a hydraulic cylinder to hold the counterweight, the tilt mechanism interlocks with the claw link to swing the camera upward facing rearward. When the claw link is driven by the hydraulic cylinder to release the counterweight, the tilt mechanism interlocks with the claw link to swing the camera downward.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In the technology of Patent Document 1, since the camera is disposed slightly forward of the counterweight, even when the camera is swung upward by the tilt mechanism, a blind spot that cannot be monitored by the camera exists behind the counterweight 106.

[0005] An object of the present invention is to provide a monitoring device capable of further reducing unmonitored blind spots.

Means for Solving the Problem

[0006] One aspect of the present invention is A monitoring device used in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The moving mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. 、 The second position is a position that overlaps with the counterweight when viewed in the vertical or horizontal direction, or a position behind the rear end of the counterweight. The counterweight has a shape in which the central part in the left-right direction is recessed to provide a space, and the moving mechanism is positioned in this space. monitoring device That is the case. One aspect of the present invention is a monitoring device used in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The movement mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. The first position is a position in front of the rear end of the upper rotating body. It is a monitoring device. One aspect of the present invention is a monitoring device used in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The movement mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. The moving mechanism has a vibration damping section that dampens the ambient information sensor located at the second position. It is a monitoring device.

[0007] One aspect of the present invention is a crane having the monitoring device and comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body. That is the case. [Effects of the Invention]

[0008] According to the present invention, the ambient information sensor located at the second position can acquire ambient information over a wide area without being obstructed by the counterweight. [Brief explanation of the drawing]

[0009] [Figure 1]It is a right side view of a mobile crane. [Figure 2] It is a rear perspective view of a mobile crane. [Figure 3] It is a top view of the rear part of the upper rotating body of a mobile crane, a counterweight and a monitoring device. [Figure 4] It is a perspective view of a monitoring device. [Figure 5] It is a perspective view of a monitoring device. [Figure 6] It is a perspective view of a monitoring device. [Figure 7] It is a rear view of a base member of a monitoring device. DETAILED DESCRIPTION OF EMBODIMENTS

[0010] Hereinafter, one or more embodiments will be described with reference to the drawings, and the features and technical effects of the embodiments will be understood from the following detailed description and the drawings. However, the scope of the present invention is not limited to the embodiments disclosed below. Since the drawings are provided for illustrative purposes only, the scope of the present invention is not limited to the illustrations in the drawings.

[0011] <1. Crane> Figure 1 is a right side view of a crane 100. Figure 2 is a rear perspective view of the crane 100. In the state shown in Figure 2, the counterweight 106 is lowered onto the ground or the like.

[0012] The crane 100 is a mobile crane, more specifically a crawler crane. The crane 100 includes a lower traveling body 101, an upper rotating body 102, a cab 103, a boom 104, a house 105, a counterweight 106, and a monitoring device 10.

[0013] The lower traveling body 101 is a self-propelled crawler. The upper rotating body 102 is mounted on the lower traveling body 101 and rotates relative to the lower traveling body 101. The rotation axis of the upper rotating body 102 defines the vertical direction, and the axial direction along the rotation axis is parallel to the vertical direction.

[0014] The cab 103 is mounted in front of the upper rotating body 102. The lower end of the boom 104 is connected to the front of the upper slewing body 102 on the left side of the cab 103, and the boom 104 undulates around the luffing axis of its lower end. The luffing axis of the boom 104 defines the left-right direction, and the axial direction along this luffing axis is parallel to the left-right direction. The left-right direction is sometimes also called the width direction. Furthermore, the front-rear direction of the upper slewing body 102 is not defined by the forward and reverse directions of the lower traveling body 101, but rather refers to the direction perpendicular to the slewing axis of the upper slewing body 102 and the luffing axis of the boom. In the side view of Figure 1, when viewing the upper slewing body 102 from the side, the direction from the cab 103 to the house 105 is the rear direction, and the direction from the house 105 to the cab 103 is the front direction. Also, when the boom 104 is tilted, the direction from the slewing body of the upper slewing body 102 to the tip of the boom is the front direction.

[0015] The housing 105 is mounted on the upper rotating body 102 behind the cab 103, spaced apart from each other in the left-right direction. The housing 105 houses the prime mover, hydraulic equipment, electrical equipment, etc.

[0016] The counterweight 106 is attached to the rear of the upper slewing body 102. The counterweight 106 balances the weight of the boom 104 and the suspended load.

[0017] The counterweight 106 is arranged in a U-shape when viewed from the rear. The counterweight 106 has a base weight 106a that is elongated in the left-right direction, a right weight 106b stacked on top of the right part of the base weight 106a, and a left weight 106c stacked on top of the left part of the base weight 106a. The right weight 106b and the left weight 106c are separated to the left and right, and a space 106d is formed between the weights 106b and 106c. A worker can stand on the base weight 106a in the space 106d.

[0018] The counterweight 106 is connected to the rear frame 102a of the upper slewing body 102 by a hydraulic cylinder 106e and is detachable from the upper slewing body 102. Here, the upper end of the hydraulic cylinder 106e is detachably connected to the rear frame 102a of the upper slewing body 102, the hydraulic cylinder 106e hangs down from the frame 102a to the base weight 106a of the counterweight 106, and the lower end of the hydraulic cylinder 106e is connected to the base weight 106a of the counterweight 106. When the hydraulic cylinder 106e extends, the counterweight 106 is lowered to the ground or the like, and the counterweight 106 is removed from the upper slewing body 102. When the hydraulic cylinder 106e retracts, the counterweight 106 is lifted off the ground or the like, and the counterweight 106 is attached to the upper slewing body 102.

[0019] <2. Monitoring device> Figure 3 is a top view of the monitoring device 10. Figure 4 is a perspective view of the monitoring device 10 from the rear, right, and above. Figure 5 is a perspective view of the monitoring device 10 from the rear, left, and above. Figure 6 is a perspective view of the monitoring device 10 from the rear, right, and below.

[0020] The monitoring device 10 is mounted in space 106d at the rear of the upper rotating body 102. The monitoring device 10 primarily monitors the area behind the counterweight 106. The monitoring device 10 may also monitor the equipment at the rear of the upper rotating body 102. The monitoring device 10 includes a moving mechanism 20, a handle 50, a tilt mechanism 60, a camera 70, and a hose holder 80.

[0021] The moving mechanism 20 is attached to the rear of the upper rotating body 102 in space 106d. The moving mechanism 20 is composed of a linear motion mechanism that moves the camera 70 linearly (straight) in the front-rear direction, and in particular, is composed of a linear guide mechanism that guides the camera 70 linearly (straight) in the front-rear direction. Specifically, the handle 50, the tilt mechanism 60 and the camera 70 are assembled to the moving mechanism 20, and as the moving mechanism 20 extends and retracts in the front-rear direction, the handle 50, the tilt mechanism 60 and the camera 70 are guided linearly in the front-rear direction by the moving mechanism 20 as a single unit. Here, "linearly" means not only that the moving mechanism 20 moves the camera 70 perfectly straight along a perfect straight line, but also that it moves it straight along a straight line that approximates a perfect straight line. In other words, for example, if the camera 70 only rotates (tilts), it is not included in "linear movement." However, even if the movement of the camera 70 is a combination of a perfectly linear movement component along a perfect straight line and a rotational component (preferably with a small curvature for the rotational component), the movement of the camera 70 is included in "linear movement." The moving mechanism 20 does not automatically move the camera 70 by a prime mover or the like, but rather the camera 70 is moved manually by an operator who receives power through the handle 50. The moving mechanism 20 includes a base member 21, a slide shaft 25, support members 31, 35 and fasteners 41, 46.

[0022] The base member 21 is positioned between the frames 102b of the upper rotating body 102. The base member 21 is fixed to the rear frame 102b of the upper rotating body 102 by bolts or the like. The base member 21 extends rearward from the rear end of the frame 102b and is supported by the frame 102b in a cantilevered manner. The frame 102b is fixed to the frame 102a so as to be erected between the frames 102a.

[0023] The slide shaft 25 extends in the front-rear direction and is supported by the base member 21 so as to be able to move linearly back and forth. The slide shaft 25 is guided in the front-rear direction by a pair of upper and lower support members 31 at the rear and a pair of upper and lower support members 35 at the front. The support of the slide shaft 25 to the base member 21 will be specifically described with reference to Figure 7. Figure 7 is a rear view showing the rear end of the base member 21 as seen from the rear, as indicated by arrow D1 in Figure 4.

[0024] The support member 31 is attached to the rear of the upper rotating body 102, more specifically to the frame 102b of the upper rotating body 102, via the base member 21. The support member 31 is sandwiched between the rear end of the base member 21 and the support plate 32, and the support plate 32 and the support member 31 are fixed to the rear end of the base member 21 by bolt and nut fastening parts 33. The upper support member 31 has a semicircular notch on its lower edge, and the lower support member 31 has a semicircular notch on its upper edge, and when the upper and lower support members 31 are combined, the notches of the support members 31 form a circular through hole. The slide shaft 25 is fitted into the through hole and is sandwiched between the upper and lower support members 31. The radial load of the slide shaft 25 is received by the support member 31, and the slide shaft 25 is able to slide back and forth relative to the support member 31. The support member 31 is made of resin, more specifically of a polyamide synthetic resin called nylon. The coefficient of friction of the slide shaft 25 against the support member 31 is smaller than the coefficient of friction of the slide shaft 25 against the support plate 32 and base member 21, making the slide shaft 25 more likely to slip against the support member 31.

[0025] Just as the slide shaft 25 is supported on the base member 21 by the support member 31 so as to be able to move back and forth, as shown in Figures 3 to 6, the slide shaft 25 is also supported on the base member 21 in front of the support member 31 by the support member 35 so as to be able to move back and forth. The material of the front support member 35 is the same as the material of the rear support member 31.

[0026] As described above, the slide shaft 25 is supported on the base member 21 at two points, the rear support member 31 and the front support member 35, so that it can move linearly back and forth. Therefore, vibrations of the slide shaft 25 in the vertical and horizontal directions are suppressed. Since the support members 31 and 35 are made of resin, which has a lower elastic modulus and higher viscosity than metal, the vibration energy of the slide shaft 25 is easily attenuated by the support members 31 and 35, and vibrations of the slide shaft 25 are suppressed. The slide shaft 25 is supported on the base member 21 so as to be able to move linearly back and forth, thereby enabling the movement mechanism 20 to extend and retract in the front-to-back direction. In other words, when the slide shaft 25 moves backward relative to the base member 21, the movement mechanism 20 extends, and when the slide shaft 25 moves forward relative to the base member 21, the movement mechanism 20 retracts.

[0027] As described above, the slide shaft 25 is movable back and forth, and fasteners 41 and 46 for securing the slide shaft 25 are provided on the moving mechanism 20. The fasteners 41 and 46 will be described in detail.

[0028] The fastener 41 secures the slide shaft 25 to its rear end during its forward and backward stroke. The fastener 41 has an insertion pin 42 and an insertion portion 43. The insertion pin 42 is fixed to the front end of the slide shaft 25 above its central axis. The insertion pin 42 protrudes forward. The insertion portion 43 is attached to the upper end of the base member 21 behind the insertion pin 42. The insertion portion 43 is a plate-shaped member with a hole. When the slide shaft 25 is moved backward, as shown in Figure 3, the insertion pin 42 is inserted into the insertion portion 43, thereby preventing the slide shaft 25 from rotating around its central axis. A fixing pin is secured to the insertion pin 42 so as to be perpendicular to the insertion pin 42, thereby preventing the slide shaft 25 from moving back and forth. When the fixing pin is removed from the insertion pin 42, the insertion pin 42 can be removed from the insertion portion 43. The insertion and removal of the fixing pins from the insertion pins 42 is performed manually, but may also be done automatically.

[0029] The insertion pin 42 and the part to be inserted 43 are positioned above the central axis of the slide shaft 25, the part to be inserted 43 protrudes above the upper end of the rear end of the base member 21, and the insertion pin 42 is fixed to the rear end of the slide shaft 25. Therefore, when an operator manually inserts the insertion pin 42 into the part to be inserted 43 or fixes the fixing pin to the insertion pin 47, the camera 70, described later, is less likely to get in the way.

[0030] The fastener 46 secures the slide shaft 25 to its front end during its forward stroke. The fastener 46 has an insertion pin 47 and an insertion portion 48. The insertion pin 47 is fixed to the rear end of the base member 21 below the central axis of the slide shaft 25. The insertion pin 47 protrudes backward. The insertion portion 48 is attached to the rear end of the slide shaft 25 behind the insertion pin 47. When the slide shaft 25 is moved forward, as shown in Figures 5 and 6, the insertion pin 47 is inserted into the insertion portion 48, thereby preventing the slide shaft 25 from rotating around its central axis. A fixing pin is secured to the insertion pin 47 so as to be perpendicular to the insertion pin 47, thereby preventing the slide shaft 25 from moving back and forth. When the fixing pin is removed from the insertion pin 47, the insertion pin 47 can be removed from the insertion portion 48. Insertion and removal of the fixing pin from the insertion pin 47 is manual, but may be automatic.

[0031] The insertion pin 47 and the part to be inserted 48 are positioned below the central axis of the slide shaft 25, and the insertion pin 47 is fixed to the rear end of the base member 21. Therefore, even if, for example, a worker is standing on the base weight 106a in space 106d with their arms raised, the work of inserting the insertion pin 47 into the part to be inserted 48 and the work of fixing the fixing pin to the insertion pin 47 can be easily performed.

[0032] The handle 50 is attached to the rear end of the slide shaft 25. The handle 50 is positioned to protrude rearward from the rear end of the slide shaft 25. When viewed from above or below, the handle 50 has a U-shape. A worker can grasp the handle 50 and move the slide shaft 25 back and forth. Because the handle 50 protrudes rearward from the rear end of the slide shaft 25, it is easy for a worker to grasp the handle 50 while standing on the base weight 106a in space 106d.

[0033] The tilt mechanism 60 is attached to the rear end of the slide shaft 25. The camera 70 is attached to the rear end of the slide shaft 25 via the tilt mechanism 60. The camera 70 is supported on the slide shaft 25 by the tilt mechanism 60 so as to be tiltable around a tilt axis 61 that extends in the left-right direction. The tilt mechanism 60 has a locking mechanism, and the tilt of the camera 70 is held in place by the locking mechanism. Locking and unlocking the locking mechanism is manual, but may be automatic. The camera 70 may be attached to the rear end of the slide shaft 25 not only via the tilt mechanism 60, but also via a pan mechanism or a roll mechanism, or both. Alternatively, the camera 70 may be attached to the rear end of the slide shaft 25 via a ball joint mechanism or a universal joint mechanism instead of the tilt mechanism 60, pan mechanism, and roll mechanism. The pan mechanism pans the camera 70 around an axis that extends in the vertical direction. The roll mechanism pans the camera 70 around an axis that extends in the line of sight direction of the camera 70. The ball joint mechanism or universal joint mechanism allows the camera 70 to pan and tilt.

[0034] By adjusting the tilt mechanism 60, the operator can direct the camera 70's line of sight downwards, diagonally downwards and backwards, or backwards. The range of motion of the tilt mechanism 60 is not limited; a wider range of motion allows the camera 70's line of sight to be directed diagonally upwards and backwards, upwards, diagonally upwards and forwards, or diagonally downwards and forwards.

[0035] In both the state where the insertion pin 42 is inserted into the insertion part 43 and the state where the insertion pin 47 is manipulated by the insertion part 48, the center of gravity of the tilt mechanism 60 is positioned below the central axis of the slide shaft 25, and the tilt axis 61 of the tilt mechanism 60 is positioned below the central axis of the slide shaft 25. Similarly, part or all of the camera 70 is positioned below the central axis of the slide shaft 25, and the center of gravity of the camera 70 is positioned below the central axis of the slide shaft 25. Even when the camera 70 is locked by the locking mechanism in its highest swing position, the center of gravity of the camera 70 is positioned below the central axis of the slide shaft 25. Therefore, when an operator moves the slide shaft 25 in the forward and backward directions with the insertion pins 42 and 47 removed from the insertion parts 43 and 48, the weight of the camera 70 and the tilt mechanism 60 makes it difficult to cause rotation around the central axis of the slide shaft 25. Therefore, the insertion pins 42 and 47 do not shift circumferentially from the parts to be inserted 43 and 48, making it easy for workers to insert the insertion pins 42 and 47 into the parts to be inserted 43 and 48.

[0036] Camera 70 optically monitors the subject in its line of sight. Camera 70 is an ambient information sensor that acquires surrounding information in its line of sight as video. A video signal cable 75 is routed from camera 70 through the rear end of the slide shaft 25 to the video equipment, and the video signal captured by camera 70 is transmitted from camera 70 to the video equipment via the video signal cable. The video equipment is, for example, a display device, a video recorder, or an image processing device (specifically, a computer).

[0037] The middle portion of the video signal cable 75 is fixed to the rear end of the slide shaft 25 by a hook or clip. Therefore, when an operator slides the slide shaft 25 back and forth, the video signal cable 75 is less likely to get tangled with the slide shaft 25 and the base member 21.

[0038] As shown in Figure 3, the position of the camera 70 when the slide shaft 25 is at its front end in its longitudinal stroke is called the first position P1. The position of the camera 70 when the slide shaft 25 is at its rear end in its longitudinal stroke is called the second position P2 (or second position P2'). The first position P1 is proximal to the frame 102b of the upper slewing body 102. The second position P2 (or second position P2') is distal to the frame 102b of the upper slewing body 102 than the first position P1. The first position P1 is in front of the rear end 102d of the upper slewing body 102. The rear end 102d of the upper slewing body 102 is also the rear end of the frame 102a of the upper slewing body 102. The rear end 102d of the upper slewing body 102 refers to the rearmost part of the upper slewing body 102. The second position P2 is a position that overlaps with the counterweight 106 at its rear end 106f when viewed in the vertical direction. The second position P2' may be located further back than the rear end 106f of the counterweight 106.

[0039] When camera 70 is positioned at the second position P2 (or second position P2'), and its line of sight is directed downward or diagonally downward and backward, the ground around the rear of the counterweight 106 is monitored by camera 70. Therefore, when a worker operates the upper slewing body 102 to rotate, they can view the image from camera 70 to avoid collisions of the counterweight 106 with obstacles around it. Note that the objects monitored by camera 70 are not limited to obstacles around the counterweight 106, but may also be various pieces of equipment installed at the rear of the crane 100 (e.g., luffing winch, winding winch). If necessary, the tilt mechanism 60 is adjusted to direct the camera 70's line of sight towards the object being monitored. Also, if necessary, the movement mechanism 20 is adjusted to position camera 70 at the first position P1 or the second position P2 (or second position P2').

[0040] When the upper slewing body 102 is disassembled from the crane 100 and transported, the camera 70 is positioned at the first position P1 by adjusting the moving mechanism 20. In this case, the camera 70, tilt mechanism 60, and handle 50 are positioned in front of the rear end 102d of the upper slewing body 102, and therefore the rear end of the slide shaft 25 is also positioned in front of the rear end 102d of the upper slewing body 102. As a result, when the upper slewing body 102 is transported by truck, the camera 70, tilt mechanism 60, handle 50, and slide shaft 25 do not affect the legally mandated vehicle length or width restrictions. Furthermore, when performing lifting operations with the crane 100, the camera 70 may be positioned at the first position P1. In this case, the objects monitored by the camera 70 may be various pieces of equipment installed at the rear of the crane 100 (for example, a luffing winch, a winding winch).

[0041] When the camera 70 is in the second position P2, the slide shaft 25 extends rearward from the rear end of the base member 21, making both the slide shaft 25 and the camera 70 susceptible to vibration. However, because the slide shaft 25 is firmly supported by the support members 31 and 35 to the base member 21, the slide shaft 25 is less likely to vibrate relative to the base member 21, and vibration of the camera 70 is less likely to occur. In particular, because the support members 31 and 35 are made of resin, which has a lower elastic modulus and higher viscosity than metal, the vibration energy of the slide shaft 25 and the camera 70 is easily attenuated by the support members 31 and 35. In other words, the support members 31 and 35 are vibration damping parts that dampen the slide shaft 25 and the camera 70.

[0042] The hose holder 80 is attached to the lower rear end of the base member 21. The hose holder 80 is mainly used when the counterweight 106 is removed from the upper slewing body 102, especially when transporting the upper slewing body 102. At that time, the oil hose routed from the hydraulic circuit to the hydraulic cylinder 106e is removed from the hydraulic cylinder 106e, and the coupler at the end of the oil hose is held in the hose holder 80.

[0043] <3. Favorable Effects> As described above, since the moving mechanism 20 guides the camera 70 linearly in the front-to-back direction, the position of the camera 70 in the front-to-back direction can be adjusted according to the type and condition of the object being monitored.

[0044] Because the movement mechanism 20 guides the camera 70 linearly in the front-to-back direction, the camera 70 has a wide range of movement in the front-to-back direction. Therefore, the scope of monitoring by the monitoring device 10 is wide.

[0045] The second position P2 is a position where, when viewed in the vertical direction, the rear end 106f of the counterweight 106 overlaps with the counterweight 106. Therefore, when the camera 70 is fixed to the second position P2 by the fastener 41 of the moving mechanism 20, the field of view of the camera 70 is less likely to be obstructed by the counterweight 106, and the area behind the counterweight 106 can be observed by the camera 70 over a wide area.

[0046] The second position P2' is behind the rear end 106f of the counterweight 106. Therefore, once the camera 70 is secured in the second position P2' by the fastener 41 of the moving mechanism 20, the camera 70 can observe a wide area behind the counterweight 106 without its field of view being obstructed by the counterweight 106.

[0047] Since the counterweight 106 has a space 106d in the center, and the monitoring device 10 is installed within the space 106d, the counterweight 106 can be monitored by the monitoring device 10 without being obstructed by it.

[0048] Because the counterweight 106 has a space 106d in the center, the monitoring device 10 can be installed below the upper end of the counterweight 106. As a result, a worker below the monitoring device 10 can easily reach the monitoring device 10, especially the handle 50, and easily move the camera 70 back and forth. Also, when the camera 70 is pointed downward or diagonally downward and backward at the second position P2 (or second position P2'), subjects below the camera 70 will be captured in a large area.

[0049] Since the camera 70 is attached to the rear end of the slide shaft 25 via the tilt mechanism 60, the tilt angle of the camera 70 is adjusted by the tilt mechanism 60.

[0050] Because the counterweight 106 has a space 106d in the center, a worker can enter the space 106d and adjust the position of the camera 70 in the front-to-back direction. In addition, the worker's hands can easily reach the handle 50 of the monitoring device 10, allowing for easy adjustment of the position and tilt angle of the camera 70.

[0051] Since the handle 50 is attached to the rear end of the slide shaft 25, an operator can grasp the handle 50 and adjust the position and tilt angle of the camera 70.

[0052] Since the camera 70 is mounted at the rear end of the slide shaft 25 below the central axis of the slide shaft 25, the camera 70 and the slide shaft 25 are less likely to rotate around the central axis of the slide shaft 25. Therefore, the insertion pins 42 and 47 do not shift circumferentially from the parts to be inserted into 43 and 48, making it easy for the worker to insert the insertion pins 42 and 47 into the parts to be inserted into 43 and 48.

[0053] When the slide shaft 25 is pulled out to the rear, the support members 31 and 35 dampen vibrations of the slide shaft 25 and the camera 70, so that the subject is captured by the camera 70 without blurring.

[0054] When transporting the upper rotating body 102, the slide shaft 25 is retracted forward. As a result, the slide shaft 25 is less likely to vibrate relative to the base member 21. In addition, the support members 31 and 35 dampen vibrations of the slide shaft 25 and the camera 70. Because of these factors, rattle noise is less likely to be generated from the slide shaft 25.

[0055] Since the slide shaft 25 is supported by resin support members 31 and 35, damage, paint peeling, and rusting of the slide shaft 25 can be prevented.

[0056] <4. Variations of the work machine> In the embodiment described above, the ambient information sensor attached to the rear end of the slide shaft 25 is a camera 70. However, the ambient information sensor is not limited to a camera 70, as long as it acquires ambient information. For example, a three-dimensional distance measuring sensor may be used instead of a camera 70. A three-dimensional distance measuring sensor periodically measures the distance and direction from the sensor to the object being monitored in its vicinity (e.g., an obstacle) by irradiating it with waves such as laser light, electromagnetic waves, infrared rays, or ultrasonic waves. The three-dimensional distance measuring sensor may employ LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) or a three-dimensional scanner.

[0057] In the embodiment described above, the base member 21 of the monitoring device 10 is directly attached to the rear of the upper slewing body 102, but it may also be attached indirectly to the rear of the upper slewing body 102. For example, the base member 21 may be directly fixed to the upper surface of the rear of the housing 105 with bolts or the like, thereby attaching the base member 21 to the rear of the upper slewing body 102 via the housing 105. Alternatively, the base member 21 may be directly fixed to the upper surface of the counterweight 106 with bolts or the like, and the base member 21 may be attached to the rear of the upper slewing body 102 via the counterweight 106.

[0058] The support members 31 and 35 may be made of rubber. Even in the case of rubber, the elastic modulus of the support members 31 and 35 is lower than that of metal, and the viscosity of the support members 31 and 35 is higher than that of metal, so the support members 31 and 35 dampen vibrations of the slide shaft 25 and the camera 70.

[0059] In the above-described embodiment, the moving mechanism 20 is a linear guide mechanism, and more specifically, a sliding mechanism that utilizes the sliding of a slide shaft 25. In contrast, the moving mechanism 20 is not limited to a linear guide mechanism as long as it moves the camera 70 linearly in the front-rear direction by manual operation. For example, the moving mechanism 20 may be a mechanism that extends to extend backward and folds to retract forward, such as a bellows mechanism or a link mechanism. Alternatively, the moving mechanism 20 may be a transmission mechanism that converts rotational motion manually applied by an operator into linear motion of the camera 70, such as a pinion rack mechanism, a winding transmission mechanism or a ball screw transmission mechanism.

[0060] In the embodiment described above, the camera 70 can be fixed at two locations: a first position P1 and a second position P2 (second position P2'). The camera 70 is not limited to two locations; it may be fixed at three or more locations. For example, the camera 70 may be fixed at the first position P1, the second position P2, and the third position (the third position is the same as the second position P2', or a position in front of the first position P1). Alternatively, the camera 70 may be fixed at a position between the first position P1 and the second position P2.

[0061] In the embodiment described above, the counterweight 106 is configured to be detachable by being raised and lowered as a whole by a hydraulic cylinder 106e. Alternatively, the counterweight 106 may be a stack-type weight that is stacked on a base fixed to the rear frame of the upper slewing body 102. In this case, as described above, the camera 70 may be configured to be fixed in a first position P1, a second position P2, and a third position, and the camera 70 fixed in the first position P1 may monitor the luffing winch.

[0062] In the above-described embodiment, the monitoring device 10 is attached to the rear of the upper slewing body 102 of a crawler crane 100 equipped with a crane-type attachment. Alternatively, the monitoring device 10 may be attached to the rear of the upper slewing body of a tower-type crawler crane equipped with a tower-type attachment. Furthermore, the monitoring device 10 is not limited to crawler cranes, but may be installed on other types of cranes such as truck cranes, all-terrain cranes, and rough-terrain cranes. Even with other types of cranes, the crane comprises a substructure (the substructure may be a crawler, a non-crawler traveling body, or a fixed structure), an upper slewing body mounted on the substructure and capable of slewing, and a counterweight detachably attached to the rear of the upper slewing body. The monitoring device 10 is attached to the rear of the upper traveling body of the crane. [Explanation of Symbols]

[0063] 10 Monitoring equipment 20 Moving mechanism 21 Base member 31 Support member 35 Support member 50 handle 60 Tilt Mechanism 70. Camera (Surrounding Information Sensor) 100 Cranes 102 Upper rotating body 102b frame 106 Counterweight 106d space P1 1st position P2 2nd position P2' 2nd position

Claims

1. A monitoring device used in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The movement mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. The second position is a position that overlaps with the counterweight when viewed in the vertical or horizontal direction, or a position behind the rear end of the counterweight. The counterweight has a shape in which the central part in the left-right direction is recessed to provide a space, and the moving mechanism is positioned in this space. monitoring equipment.

2. A monitoring device for use in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The movement mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. The first position is a position in front of the rear end of the upper rotating body. monitoring equipment.

3. A monitoring device for use in a crane comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body, A surrounding information sensor that acquires surrounding information, It has a moving mechanism attached to the rear frame of the upper rotating body, which moves the surrounding information sensor in the front-rear direction, The movement mechanism moves the ambient information sensor in the forward and backward direction between a first position and a second position located behind the first position relative to the frame. The moving mechanism has a vibration damping section that dampens the ambient information sensor located at the second position. monitoring equipment.

4. The aforementioned moving mechanism is A shaft extending in the front-to-back direction, A support member is attached to the rear of the upper rotating body, receives the radial load of the shaft, and supports the shaft so that it can move in the front-rear direction, It has, The ambient information sensor is attached to the rear end of the shaft. The vibration damping portion is the support member. The monitoring device according to claim 3.

5. The aforementioned moving mechanism A shaft extending in the front-to-back direction, A support member is attached to the rear of the upper rotating body, receives the radial load of the shaft, and supports the shaft so that it can move in the front-rear direction, A handle attached to the rear end of the aforementioned shaft, which is grasped by a worker, It has, The ambient information sensor is attached to the rear end of the shaft. When the handle is operated, the shaft moves in the forward and backward directions, allowing the surrounding information sensor to move. A monitoring device according to any one of claims 1 to 3.

6. The aforementioned moving mechanism A shaft extending in the front-to-back direction, A support member is attached to the rear of the upper rotating body, receives the radial load of the shaft, and supports the shaft so that it can move in the front-rear direction, It has, The ambient information sensor is mounted below the central axis of the shaft. A monitoring device according to any one of claims 1 to 3.

7. A crane having a monitoring device according to any one of claims 1 to 3, comprising an upper rotating body and a counterweight detachably attached to the rear of the upper rotating body.

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