JP2018039638A - Crawler type work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve reliability by facilitating confirmation that a jack-up device is in a retraction position in conducting a retraction operation.SOLUTION: Each jack-up device 120 can be disposed in a work position where a tip side is radially disposed outward and in a retraction position where an interval between a pair of crawlers can extend or contract, and includes a detection sensor 50 for detecting that the jack-up device 120 is in the retraction position.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a crawler type work machine.

  The crawler crane has a lower traveling body having a traveling body body having four jack-up devices and a pair of crawlers coupled to the traveling body body, and a front working machine such as a boom, and can turn to the lower traveling body. And an upper revolving body connected to the main body. The crawler crane enlarges the distance between the pair of crawlers during work, and reduces the distance between the pair of crawlers during transportation due to legal restrictions. Each jack-up device is rotatably attached to the traveling body body, and is opened so as to be radially outward when working. Further, at the time of transportation, each jack-up device is rotated inward between a pair of crawlers so as to be parallel to the crane (see, for example, FIGS. 3 and 6 of Patent Document 1).

JP 2012-197155 A

  In the crawler type crane, in order to change from the working state to the transporting state, before reducing the distance between the pair of crawlers, each jack-up device is moved from the working position to the inward side between the pair of crawlers. It is necessary to rotate it. However, conventionally, since it was a method of visually confirming by an operator, there is a possibility that the interval between the crawlers may be reduced without rotating each jack-up device from the work position to the transport position. If the distance between the crawlers is reduced with each jack-up device in the working position, the jack-up device and the crawler may come into contact with each other and both members or one member may be damaged.

  According to one aspect of the present invention, a crawler-type work machine is connected to a traveling body body having a plurality of jackup devices and at least a pair of axles, and the axles of the traveling body body, and the distance between them can be increased or decreased. In each of the crawler type work machines including a pair of crawlers, each jackup device is configured such that one end side of each jackup device is rotatably attached to the traveling body body, and the other end side of each jackup device is It can be arranged at a working position arranged radially outward with respect to the one end side, and a retract position where the distance between the pair of crawlers can be enlarged or reduced, and each jack-up device is arranged on the retract side. A detection sensor for detecting the position is provided.

  According to the present invention, when performing the retracting operation, it is easy to confirm that each jack-up device is at the retracting position, and the reliability is improved.

It is an appearance side view of a crawler type crane as one embodiment of a crawler type work machine of the present invention. It is an external appearance perspective view in the operation state of a lower traveling body. FIG. 3 is an external perspective view of the lower traveling body shown in FIG. 2 during transportation, disassembly, and assembly. It is a perspective view of the traveling body body in the state of transporting. It is a top view for demonstrating the action | operation of a limit switch. It is a block diagram of the crawler type work machine by this invention. It is a flowchart which shows one Embodiment of the control method of retract operation of this invention.

Hereinafter, an embodiment of a crawler work machine according to the present invention will be described with reference to the drawings.
FIG. 1 is an external side view of a crawler crane as an embodiment of a crawler work machine according to the present invention.
The crawler crane 100 includes a lower traveling body 1, an upper revolving body 3 that is turnable on the lower traveling body 1 via a swivel wheel 2, and a boom 4 that is pivotally supported by the upper revolving body 3. And have. The upper swing body 3 has a cab 31 in front and a building cover 32 behind the cab 31.
In the following description, the front-rear direction, the left-right direction, and the up-down direction are as illustrated.

  The upper swing body 3 is equipped with a hoisting drum (not shown) that is a winch drum for hoisting and a hoisting drum (not shown) that is a hoisting winch drum. The hoisting rope 5a is wound around the hoisting drum, and the hoisting rope 5a is wound or fed out by driving of the hoisting drum, and the hook 7 is moved up and down. The hoisting rope 6a is wound around the hoisting drum, and the hoisting rope 6a is wound or fed out by driving of the hoisting drum, and the boom 4 is raised and lowered.

2 is an external perspective view of the lower traveling body in a working state, and FIG. 3 is an external perspective view of the lower traveling body shown in FIG. 2 during transportation, disassembly and assembly.
The lower traveling body 1 includes a traveling body body 106, a total of four axles 105 extending in the left-right direction at the front portion and the rear portion of the traveling body body 106, a pair of crawlers 104, and a pair of crawler retract hydraulic cylinders 107, respectively. Yes. Each crawler 104 includes a crawler side frame 109, a travel drive device 114 (see FIG. 1), and a crawler belt 118. The travel drive device 114 is disposed on the rear end side of the crawler side frame 109 and has a travel motor (not shown). Each crawler 104 includes an idler (not shown) on the opposite side of the crawler side frame 109 from the driving device 114, that is, on the front end side. Further, each crawler 104 includes a plurality of upper rollers and lower rollers (not shown) arranged on the upper side and the lower side of the crawler side frame 109, respectively. The crawler belt 118 is attached to the outer periphery of the traveling drive device 114, the idler, the upper roller, and the lower roller. By driving the traveling motor of the traveling drive unit 114, the crawler belt 118 goes around the outer periphery of the crawler side frame 109, and the lower traveling body 1 travels forward or backward.

The traveling body body 106 includes a turning wheel 2 and two pairs of axles 105. The two pairs of axles 105 are integrally provided on the traveling body body 106. The pair of axles 105 extend leftward and rightward from the front side of the traveling body body 106, respectively. The other pair of axles 105 extend leftward and rightward from the rear side of the traveling body body 106, respectively. Each axle 105 extends in a direction substantially orthogonal to the crawler side frame 109 of the crawler 104. The crawler retract hydraulic cylinder 107 is provided on the left and right side surfaces of the traveling body body 106. As the crawler retract hydraulic cylinder 107 expands and contracts, the width direction of the pair of crawlers 104, that is, the distance in the left-right direction is enlarged and reduced.
Note that in this specification, enlarging or reducing the distance between the pair of crawlers 104 in the width direction, that is, the left-right direction is referred to as retract. An operation for expanding or reducing the distance between the pair of crawlers 104 is referred to as a retract operation.

  A total of four jack-up devices 120 are attached to the front and rear portions of the traveling body body 106. Each jackup device 120 includes a support 121 and a lifting hydraulic cylinder 122. One end side of the support portion 121 of each jackup device 120 is pivotally supported by a pivot pin 151 provided on the traveling body body 106 and is rotatably attached. The lifting hydraulic cylinder 122 is attached to the other end side of the support portion 121 of the jackup device 120.

  FIG. 2 shows a state of the lower traveling body 1 during work. During the work, the pair of crawler retract hydraulic cylinders 107 are extended, and the front ends of the axles 105 are connected to the crawler 104 using a fastening member (not shown). Thereafter, each jack-up device 120 is rotated outward, that is, clockwise or counterclockwise about the center plane in the left-right direction. That is, each jack-up device 120 is radially arranged with the center plane in the left-right direction as the center. Then, the foot 123 provided at the lower end of the lifting hydraulic cylinder 122 attached to each jackup device 120 is grounded to support the lower traveling body 1.

FIG. 3 shows a state of the lower traveling body 1 during transportation or the like.
At the time of transportation, each jack-up device 120 is rotated inward, that is, counterclockwise or clockwise in the direction opposite to that at the time of operation, with the center plane in the left-right direction as the center. As shown in FIG. 3, each jack-up device 120 is stopped at a position substantially parallel to the crawler side frame 109, in other words, at a position substantially perpendicular to the axle 105. The position of the jack-up device 120 illustrated in FIG. 3 is referred to as a conveyance position or a retract position. The end portion side of each jackup device 120 to which the lifting hydraulic cylinder 122 is attached is positioned more in the left-right direction, that is, inward in the width direction than in the work position at the transfer position.

  The pair of crawler retract hydraulic cylinders 107 is retracted in a state where the position of the jack-up device 120 is the transport position. By retracting each crawler retract hydraulic cylinder 107, the front end side of each axle 105 is inserted into a fitting portion 109 a provided on the crawler side frame 109. In this state, each axle 105 and the crawler side frame 109 are connected using a fastening member (not shown). An extension beam (not shown) is rotatably provided at the tip of each axle 105, and the extension beam is rotated by approximately 90 degrees to be in close contact with the side surface of the crawler side frame 109. In this state, the extension beam is attached to the crawler side frame. 109 may be fixed.

  The disassembly / assembly of the lower traveling body 1 is performed in a state in which the jacking-up device 120 is extended and the traveling body body 106 is lifted, as indicated by a dotted line in FIG. At the time of disassembly, in the state shown in FIG. 3, the wire rope of another crane is hooked on the crawler 104, the crane is moved, and each crawler 104 is detached from the traveling body body 106. At the time of assembly, contrary to the time of disassembly, the wire ropes of other cranes are hooked on the crawler 104, the crane is moved, and each crawler 104 is assembled to the traveling body body 106. The crawler 104 and the traveling body body 106 are attached or detached by removing or inserting the front end side of each axle 105 with respect to the fitting portion 109a of the crawler side frame 109.

  FIG. 4 is a perspective view showing the traveling body body 106 in a state of being transported (or transported) after the crawler 104 is removed. The traveling body 106 is usually transported (or transported) in a state where the lifting hydraulic cylinder 122 is retracted.

Here, when the crawler retract hydraulic cylinder 107 is retracted in a state where each jackup device 120 is disposed at the work position illustrated in FIG. 2, the crawler 104 and the jackup device 120 interfere with each other, One member may be damaged. Conventionally, an operator visually confirms whether each jack-up device 120 is at a work position or a retract position. For this reason, there is a possibility that the retraction operation may be performed while each jack-up device 120 is in the working position illustrated in FIG. The present invention has been made for the purpose of suppressing such a situation.
Hereinafter, an embodiment thereof will be described.

  As shown in FIGS. 2 and 3, each axle 105 is provided with a limit switch 50. The limit switch 50 is disposed in the vicinity of the pivot pin 151 to which the support portion 121 of the jackup device 120 is attached. A striker 52 is provided on one end side of the support portion 121 of each jackup device 120. The striker 52 is disposed at a position where the limit switch 50 is pressed in the conveyance state illustrated in FIG. 3. The limit switch 50 is normally off and is turned on when pressed by the striker 52.

FIG. 5 is a plan view for explaining the operation of the limit switch.
As described above, the jack-up device 120 can be rotated at the work position illustrated by the solid line and the transport position illustrated by the two-dot chain line.
In the jack-up device 120, the through hole of the support portion 121 is rotatably inserted into the pivot pin 151 inserted through the through hole of the bracket 111 provided in the axle 105. An inclined surface 121a that extends substantially parallel to the side surface of the axle 105 is formed at the tip of the support portion 121 on the axle 105 side in a state where the jackup device 120 is rotated to the working position. In this state, the inclined surface 121 a of the support portion 121 of the jackup device 120 is disposed at a position slightly separated from the side surface of the axle 105. A corner portion between one side surface of the support portion 121 and the inclined surface 121a of the support portion 121 is formed in an acute angle shape, and a tip thereof is formed in an arc shape. The corner part of the other side surface of the support part 121 and the inclined surface 121a of the support part 121 is obtuse, and its tip is formed in an arc shape. The striker 52 is formed so as to protrude from the upper surface of the support portion 121 on the inner side of an acute corner portion between one side surface of the support portion 121 and the inclined surface 121 a of the support portion 121.

  As the jack-up device 120 is rotated counterclockwise around the pivot pin 151 from the work position illustrated by the solid line, the striker 52 is also rotated counterclockwise around the pivot pin 151. Accordingly, the striker 52 gradually approaches the limit switch 50, and the striker 52 contacts the limit switch 50 and presses the limit switch 50 at the retract position where the jack-up device 120 is substantially perpendicular to the side surface of the axle 105. To do. As a result, the limit switch 50 is activated and turned on.

FIG. 6 is a block diagram of a crawler type work machine according to the present invention, and FIG. 7 is a flowchart showing an embodiment of the retract operation control method of the present invention.
As shown in FIG. 6, the crawler crane 100 includes a controller 161 mounted in the cab 31 and a monitor-171 that is display-controlled by the controller 161. Four limit switches 50, a retract control valve 162, and a retract operation switch 163 are connected to the controller 161. The retract control valve 162 controls the supply and discharge of hydraulic fluid supplied to the crawler retract hydraulic cylinder 107 from a hydraulic pump (not shown). When the retract operation switch 163 is operated, the retract control valve 162 is switched under the control of the controller 161, and the crawler retract hydraulic cylinder 107 is retracted. When the retract operation switch 163 is operated, the controller 161 controls the display content displayed on the monitor-171 via a display control device (not shown).

With reference to FIG. 7, an embodiment of a method for controlling a retract operation according to the present invention will be described. This process is repeatedly executed at a predetermined cycle during the operation of the crawler crane 100.
Note that the order of the steps in the following description is not fixed and can be changed as appropriate. Further, all steps are not necessarily essential requirements of the invention, but merely described for the purpose of clarifying the contents of the invention.
First, in step S1, the on / off state of the limit switch 50 is detected. When each jack-up device 120 is at the retract position indicated by a two-dot chain line in FIG. 5, each limit switch 50 is on. The controller 161 determines that the limit switch 50 is on only when an on signal is supplied from all four limit switches 50.

If it is determined that the limit switch 50 is on, step S2 is performed. In step S <b> 2, under the control of the controller 161, “retractable” or “retract position” is displayed on the monitor 171.
After confirming this display, the worker operates the retract operation switch 163 to be in the ON state in step S3.

  When the retract operation switch 163 is operated, in step S4, the retract control valve 162 is switched under the control of the controller 161, and the crawler retract hydraulic cylinder 107 is retracted. In this case, the controller 161 does not switch the retract control valve 162 unless all the four limit switches 50 are in the ON state and the ON signal is output from the retract operation switch 163. As a result, the degeneration of the crawler retract hydraulic cylinder 107 is restricted unless all the four jackup devices 120 are set to the retract position and the retract operation switch 163 is turned on.

  If even one of the four jack-up devices 120 is a position other than the retract position, such as a work position indicated by a solid line in FIG. 5, the controller 161 determines that the limit switch 50 is off. If it is determined in step S1 that it is off, step S11 is performed. In step S11, the state where the retract operation is impossible is maintained. That is, the degeneration of the crawler retract hydraulic cylinder 107 is maintained in a restricted state.

According to the one embodiment, the following effects are obtained.
(1) A pair of crawlers 104 is rotatably attached to a traveling body body 106 in a crawler crane 100 that can be connected to a plurality of axles 105 of the traveling body body 106 at respective positions whose intervals are enlarged and reduced. A plurality of jack-up devices 120 and limit switches 50, and each jack-up device 120 expands or contracts the working position where the tip side is radially arranged outward and the distance between the pair of crawlers 104. The limit switch 50 detects that the jack-up device 120 is at the retract position. For this reason, when performing the retracting operation, it is easy to confirm that each jack-up device 120 is at the retracting position, and the reliability is improved.

(2) The crawler crane 100 further includes a monitor 171 and a controller 161 that controls the monitor 171. The controller 161 retracts each jackup device 120 to the monitor 171 based on a detection signal from the limit switch 50. Display to indicate that it is a position. For this reason, the worker can determine whether or not each jack-up device 120 is at the retract position even while working in the cab 31, thereby improving workability.

(3) The crawler crane 100 further includes a crawler retract hydraulic cylinder 107 that enlarges or reduces the distance between the pair of crawlers 104, and a controller that controls expansion and contraction of the crawler retract hydraulic cylinder 107 based on a detection signal from the limit switch 50. 161. For this reason, as long as each jackup device 120 is not in the retracted position, the expansion and contraction of the crawler retract hydraulic cylinder 107 can be restricted.

(4) In addition to the configuration of (3), the crawler crane 100 further includes a retract operation switch 163. The retract operation switch 163 is controlled by the controller 161 as long as there is no detection signal from the limit switch 50. Regulate retract operation. Thus, after confirming that each jack-up device 120 is at the retract position, the crawler retract hydraulic cylinder 107 can be expanded and contracted by operating the retract operation switch 163. For this reason, the safety | security at the time of performing retract operation can be improved more.

  In the above embodiment, the sensor that detects the retract position is exemplified as the limit switch 50. However, instead of the limit switch 50, other sensors such as a proximity switch and a light emitting / receiving element may be used.

  In the above embodiment, the monitor 171 displays that each jack-up device 120 is at the retract position. However, instead of the monitor 171, it may be notified by sound such as a speaker.

  In the above-described embodiment, the crawler retract hydraulic cylinder 107 is expanded and contracted by turning on the retract operation switch 163 while each jack-up device 120 is in the retracted position. However, instead of the retract operation switch 163, an operation member that mechanically switches the on / off operation position and a restriction member that restricts switching of the operation member may be used. That is, for example, the restriction member restricts switching of the operation member by positioning each jack-up device 120 on the operation track of the operation member when the jack-up device 120 is in the working position. When each jack-up device 120 is rotated to the retract position, the regulating member is displaced to a position outside the operation track of the operation member by a signal from the limit switch 50, and the operation member can be operated. As a result, the switch for degenerating the crawler 104 is turned on.

In the above-described embodiment, the crawler retract hydraulic cylinder 107 may be retracted as long as the notification member such as the monitor 171 notifies the retraction position and the jack-up device 120 does not reach the retract position. Exemplified as not possible. However, the notification member such as the monitor 171 may be used only for notification to indicate the retract position. That is, the function of preventing the crawler retract hydraulic cylinder 107 from being retracted unless the jackup device 120 is in the retract position may be omitted.
Or, conversely, the crawler retract hydraulic cylinder 107 may not be retracted unless the jackup device 120 is in the retracted position without notifying the notification member.

  In the above-described embodiment, the crawler crane 100 as an example of the crawler work machine has been described. However, the present invention is not limited to this, and a crawler type such as a crawler hydraulic excavator and a crawler work machine for recycling may be used. It can be applied to various working machines.

  Although various embodiments and modifications have been described above, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.

50 Limit switch (detection sensor)
100 Crawler crane (crawler work machine)
104 Crawler 105 Axle 106 Running body body 107 Crawler retract hydraulic cylinder 120 Jack-up device 161 Controller (control device)
163 Retracting operation switch (regulating member)
171 Monitor (notification member)

Claims (5)

In a crawler type work machine capable of connecting a pair of crawlers to a plurality of axles of the traveling body at respective positions where the distance between the crawlers is enlarged and reduced,
A plurality of jackup devices rotatably attached to the traveling body body;
A detection sensor,
Each of the jack-up devices can be disposed at a working position where the distal end side is radially arranged outward and a retract position where an interval between the pair of crawlers can be enlarged or reduced,
A crawler type work machine, wherein the detection sensor detects that the jack-up device is at the retract position. In the crawler type work machine according to claim 1,
And a notification member;
A control device for controlling the notification member,
The control device causes the notification member to notify that each jackup device is at the retract position based on a detection signal from the detection sensor. In the crawler type work machine according to claim 1,
Furthermore, a crawler retract hydraulic cylinder that enlarges or reduces the distance between the pair of crawlers;
A crawler type work machine comprising: a control device that controls expansion and contraction of the crawler retract hydraulic cylinder based on a detection signal from the detection sensor. In the crawler type work machine according to claim 3,
Furthermore, a regulating member that regulates the retract operation is provided,
The crawler work machine is characterized in that the restricting member restricts a retraction operation by the control device unless there is a detection signal from the detection sensor. In the crawler type work machine according to claim 1,
The crawler type work machine, wherein the detection sensor is provided on the traveling body body that rotatably supports each jackup device.

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