JP7189489B2 - mobile cranes and crane systems - Google Patents

Description

The present invention relates to mobile cranes for use with self-propelled carts supporting counterweights.

2. Description of the Related Art Conventionally, mobile cranes of SHL (Super Heavy Lifting) specifications for lifting heavy loads are known. The mobile crane includes a lower traveling structure that can travel, an upper rotating structure that is rotatably attached to the lower traveling structure, a luffing member that includes a boom that is hoistably attached to the upper rotating structure, It is equipped with a mast attached to the upper revolving structure and supporting the boom from the rear, a counterweight arranged behind the upper revolving structure, and a guy line connecting the tip of the mast and the counterweight. In this mobile crane, the counterweight has the function of maintaining the front-to-rear balance of the crane so that the hoisting member can hoist a heavy load. In the SHL specification mobile crane, a carriage for the counterweight is used.

For example, Patent Literature 1 discloses a crane system that includes a crane, a transporter (self-propelled truck), a pallet, and a counterweight. This self-propelled carriage has a travel unit configured to extend and contract in the vertical direction, and a loading platform.

Japanese Patent No. 5632818

By the way, when the mobile crane moves forward or backward, or when the upper rotating body performs a turning motion, the self-propelled carriage follows the forward/backward motion and the turning motion of the mobile crane. Follow-up action must be performed. In order for the self-propelled trolley to perform the following operation, the counterweight and the self-propelled trolley are arranged so that the self-propelled trolley is in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled trolley. A trolley needs to be arranged.

However, whether or not the counterweight and the self-propelled carriage are in contact with each other as described above depends on various conditions such as the weight of the load lifted by the hoisting member including the boom and the angle of the boom with respect to the ground. . For this reason, when performing a forward/backward movement or a turning movement, the operator visually confirms whether or not the counterweight and the self-propelled carriage are in contact with each other, and depending on the result of the confirmation, counters the counterweight. It was necessary to perform a complicated work of arranging the weight and the self-propelled carriage so that they are in the contact state.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to perform forward/backward movement and turning movement of the crane in crane operation of a mobile crane used together with a self-propelled cart that supports a counterweight. In this case, the counterweight and the self-propelled carrier are arranged so that the self-propelled carrier is in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled carrier without the operator having to perform complicated work. It is to make it possible to place the trolley.

(1) The mobile crane of the present invention is used together with a self-propelled truck having a loading platform and a height adjusting mechanism for adjusting the height of the loading platform. The mobile crane includes an undercarriage, an upper swinging body rotatably mounted on the lower traveling body, a boom rotatably attached to the upper swinging body, and a boom rotating on the upper swinging body. A mast movably attached to support the boom from behind; a counterweight supported by the loading platform of the self-propelled carriage; a guy line connecting the tip of the mast and the counterweight; An angle information detection unit that detects an angle or a corresponding value corresponding to the angle, a storage unit that stores a target angle of the mast determined based on the specifications of the mobile crane, and the angle information detection unit a determination unit that determines a contact state in which the self-propelled trolley is in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled trolley, based on the detected value and the target value; and, the counterweight has a weight body and a mounting portion on which the weight body is placed, and the self-propelled carriage travels from a position separated from the counterweight to move the counterweight. It is a self-propelled carriage that can enter below the mounting portion of the weight, and the operation section determines that the self-propelled carriage and the counterweight are not arranged in the contact state. a height adjuster for placing the self-propelled carriage and the counterweight in the contact state when determined by

During crane operations in which the crane moves forward, backward, or turns, the length of the guy line connecting the counterweight and the tip of the mast is constant, so the height of the counterweight from the ground correlates with the angle of the mast. do. That is, whether the self-propelled truck is in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled truck depends on the angle of the mast. The present invention has been made by paying attention to such a point of view, and determines whether or not the self-propelled carriage and the counterweight are in the contact state based on the information regarding the angle of the mast, and It is possible to perform an operation for arranging the self-propelled carriage and the counterweight in the contact state based on.

That is, in the mobile crane of the present invention, the determination unit determines the contact state based on the detection value by the angle information detection unit and the target angle of the mast, and based on the determination result, the operation unit automatically An operation is performed to place the traveling carriage and the counterweight in the contact state. As a result, the self-propelled trolley is in contact with the ground and the counterweight is placed on the loading platform of the self-propelled trolley without the operator having to perform complicated work when the crane moves forward, backward, or turns. It becomes possible to arrange the counterweight and the self-propelled carriage so as to be in a contact state, which is a state of contact.

(2) In the mobile crane, it is preferable that the operating section includes a notification device for notifying an operator of information regarding the contact state.

In this aspect, the operator can obtain information about the contact state through the notification device. The operation of arranging the counterweight and the self-propelled truck in the contact state may be performed manually by an operator by operating the self-propelled truck or the mobile crane, or may be automatically performed by the controller of the mobile crane. good. In the former case, the operator can operate the self-propelled truck or the mobile crane using the information about the contact state obtained from the notification device as an index, so that the counterweight and the self-propelled truck are placed in the contact state. This simplifies the operator's work for In the latter case, the operation of placing the counterweight and the self-propelled carriage in the contact state is automatically performed by the controller, eliminating the need for the operator to operate the self-propelled carriage or mobile crane. In the latter case, the operator recognizes the information about the contact state obtained through the notification device, and the operation performed by the controller (the operation of placing the counterweight and the self-propelled trolley in the contact state). can be monitored.

(3) In the mobile crane, the angle information detection unit includes an angle sensor that detects the angle of the mast, and the determination unit determines that the value detected by the angle sensor is within a predetermined range as the target value. It is configured to determine whether or not it is included in a certain target range, and the height adjustment unit determines that the value detected by the angle sensor is not included in the target range when the determination unit determines that the The height adjustment mechanism of the self-propelled trolley may be controlled to place the self-propelled trolley and the counterweight in the contact state.

In this aspect, the value to be compared with the target angle of the mast is the actual angle of the mast detected by the angle sensor. can be compared. Thereby, the determination by the determining unit is performed with high accuracy.

Further, in this aspect, the target range is set in advance as the target value. When the detected value by the angle sensor is included in the target range, the self-propelled trolley and the counterweight can be adjusted without adjusting the height of the loading platform by the height adjustment mechanism. are arranged in the contact state. The target range is set in advance by simulation, experiment, or the like according to the specifications of the mobile crane, the specifications of the self-propelled cart, and the like.

(4) In the mobile crane, the angle information detection unit detects a value related to the height of the loading platform of the self-propelled carriage as the corresponding value or a value related to the height of the counterweight as the corresponding value. and the determining unit determines whether or not a correlation value correlated with a value detected by the height information detecting sensor is included in a target range, which is a predetermined range as the target value. When the determination unit determines that the correlation value is not included in the target range, the height adjustment unit controls the height adjustment mechanism of the self-propelled trolley to perform the The self-propelled carriage and the counterweight may be arranged in the contact state.

The value detected by the angle information detection unit may not be the actual angle of the mast, but may be a corresponding value corresponding to the angle. The distance between the ground and the counterweight, which is connected to the tip of the mast via guy lines, correlates with the angle of the mast. Therefore, in this aspect, a value related to the height of the loading platform of the self-propelled carriage or a value related to the height of the counterweight is used as the corresponding value. In a crane operation, when the counterweight is fixed to the self-propelled truck, when the mast rotates forward and the angle of the mast increases, the self-propelled truck lifts up from the ground together with the counterweight. On the other hand, if the counterweight is not fixed to the self-propelled trolley, when the mast rotates forward and the angle of the mast increases, the counterweight will rise from the loading platform of the self-propelled trolley, and the self-propelled trolley will move. Remain grounded.

Therefore, in this aspect, the height information detection unit detects a value related to the height of the loading platform of the self-propelled trolley as the corresponding value or a value related to the height of the counterweight as the corresponding value, and The determination unit determines whether or not a correlation value correlated with the detected value is included in a target range that is a range predetermined as the target value. Here, the correlation value is a value that correlates with the detection value (information about height) detected by the height information detection unit, and is a value converted so as to be able to be compared with the target angle of the mast. Correlation between the correlation value and the detection value is determined in advance by simulation, experiment, or the like according to the specifications of the mobile crane, the specifications of the self-propelled cart, and the like.

(5) A telescopic beam that connects the mobile crane, the rear portion of the upper rotating body and the counterweight, and is capable of adjusting the relative position of the counterweight with respect to the rear portion of the upper rotating body, and a value related to the relative position. and an angle determination unit that determines the target value based on target value information including the detected value by the position information detection unit.

If the length of the guy line is constant, the distance between the counterweight and the ground changes when the telescopic beam changes the position of the counterweight relative to the rear portion of the upper swing structure. Therefore, in this aspect, the angle determination unit determines the target value (the target value of the angle of the mast) based on the target value information including the detection value by the position information detection unit. Therefore, even if the length of the telescopic beam is changed between crane operations and the specifications of the crane are changed, the angle determination unit determines the angle of the mast based on the target value information. The target value can be determined to a value suitable for the changed crane specifications. As a result, even during crane work with the changed crane specifications, the determination unit can determine the contact state based on the newly determined target value and the detected value by the angle information detection unit.
A crane system of the present invention includes the mobile crane described above and the self-propelled carriage.

According to the present invention, in the crane operation of a mobile crane used together with a self-propelled carriage that supports a counterweight, when the forward/retreat movement and the turning movement of the crane are performed, the operator does not have to perform complicated work. It is possible to arrange the counterweight and the self-propelled trolley so that the counterweight and the self-propelled trolley are in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled trolley.

1 is a side view showing a crane system including a mobile crane and a self-propelled truck according to an embodiment of the invention; FIG. It is a block diagram showing a functional configuration of a crane system including a mobile crane and a self-propelled carriage according to the embodiment. FIG. 3 is a perspective view showing a weight body and a pallet that constitute a counterweight in the mobile crane according to the embodiment, and a self-propelled carriage. In the crane system including the mobile crane and the self-propelled carriage according to the above embodiment, the relationship between the relative positions of the counterweight adjusted by the telescopic beam and the rear part of the upper rotating body and the height of the counterweight will be described. 1 is a schematic diagram for FIG. FIG. 5 is a schematic diagram for explaining the length of the expandable beam and the angle with respect to the horizontal plane (ground) due to expansion and contraction of the expandable beam in FIG. 4 ; FIG. 5 is a schematic diagram for explaining the relationship between the angle of the mast and the height of the counterweight in the crane system including the mobile crane and the self-propelled carriage according to the embodiment; It is the schematic for demonstrating the operation|movement of the height adjustment mechanism which adjusts the height of the loading platform of the said self-propelled trolley. 4 is a flow chart showing an example of control in a crane system including a mobile crane and a self-propelled carriage according to the embodiment;

Hereinafter, a crane system including a mobile crane (hereinafter referred to as a crane) and a self-propelled truck according to an embodiment of the present invention will be described with reference to the drawings. The mobile crane according to the present embodiment is an SHL-spec mobile crane for hoisting a heavy load.

FIG. 1 is a side view showing a crane system 1 including a crane 10 and a self-propelled truck 80 according to this embodiment. FIG. 2 is a block diagram showing the functional configuration of the crane system 1. As shown in FIG. FIG. 3 is a perspective view showing the weight body 31 and the pallet 32 that constitute the counterweight 30 in the crane 10, and the self-propelled carriage 80. As shown in FIG.

In addition, although the directions of “up”, “down”, “front” and “rear” are sometimes shown in the drawings, the directions are the crane 10 according to the embodiment of the present invention, the self-propelled It is shown for convenience in order to explain the structure of the carriage 80 and the like, and does not limit the moving direction or usage mode of the crane 10 or the self-propelled carriage 80 .

As shown in FIG. 1 , the crane system 1 includes a crane 10 and a self-propelled truck 80 . The crane 10 includes a crane body 11 , a counterweight 30 and a telescopic beam 35 . The crane main body 11 includes a lower traveling body 12, an upper revolving body 13, a boom 14, a mast 15, a box mast 16, guy lines 27, an angle information detection section 41, a position information detection section 42, and a controller 50. and a notification device 57 . The self-propelled carriage 80 has a loading platform 83 and a height adjusting mechanism 61 that adjusts the height of the loading platform 83 .

The lower traveling body 12 is configured to be able to travel on the ground G, and includes, for example, a pair of left and right crawlers.

The upper revolving body 13 is attached to the lower traveling body 12 . The upper revolving body 13 is configured to be revolvable with respect to the lower traveling body 12 about an axis extending in a direction perpendicular to the ground G on which the lower traveling body 12 travels. The upper swing body 13 has a cab 131 in which an operator of the crane 10 boards. A counterweight 132 for adjusting the balance of the crane 10 is arranged at the rear portion of the upper swing body 13 . The counterweight 132 is a separate member from the counterweight 30 and is not essential.

The boom 14 is attached to the upper swing body 13 so as to be able to rise and fall. The boom 14 has a boom base end rotatably supported by the upper revolving body 13 and a boom tip end arranged on the opposite side of the boom base end in the longitudinal direction. Although the boom 14 shown in FIG. 1 is of a so-called lattice type, the specific structure of the boom is not limited.

The boom 14 is supported from behind by a pair of left and right backstops 141 . These backstops 141 come into contact with the upper rotating body 13 when the boom 14 is in the upright posture, and restrict the boom 14 from being blown backward by strong wind or the like.

The mast 15 is attached to the upper revolving body 13 and supports the boom 14 from behind. The mast 15 has a proximal end 15A and a distal end 15B. The base end portion 15A is rotatably supported by the upper revolving body 13 around a rotation axis parallel to the rotation axis of the boom 14 at a position on the rear side of the boom 14 . The mast 15 is rotatable in the same direction as the hoisting direction of the boom 14 . A first mast sheave 151 and a second mast sheave 152 are arranged at the tip portion 15B of the mast 15 . The first mast sheave 151 and the second mast sheave 152 are hung with a boom hoisting rope 22, which will be described later.

The mast 15 is supported from behind by a backstop 153 . The base end of the backstop 153 is attached to the upper revolving body 13 behind the base end 15A of the mast 15, and the tip of the backstop 153 is attached to a portion of the mast 15 in the longitudinal direction. .

The box mast 16 has a rectangular shape in plan view. A base end portion of the box mast 16 is rotatably connected to the upper revolving body 13 . The rotation axis of the box mast 16 is arranged parallel to the rotation axis of the boom 14 , and the box mast 16 is rotatable in the same direction as the boom 14 is raised and lowered.

The crane body 11 further includes a lower spreader 18, an upper spreader 19, a guy line 20, a boom hoisting rope 22, and a boom hoisting winch W1.

The lower spreader 18 is rotatably supported around the pivot portion of the tip portion 15B of the mast 15 . The lower spreader 18 has a plurality of first sheaves 181 arranged in the horizontal direction. The upper spreader 19 is arranged in front of the lower spreader 18 at a predetermined distance. The upper spreader 19 is connected to the tip of the boom via a guy line 20 . The upper spreader 19 has a plurality of second sheaves 191 arranged in the horizontal direction.

A pair of guy lines 20 are arranged in the horizontal direction, for example. The rear end of the guy line 20 is connected to the upper spreader 19, and the front end of the guy line 20 is connected to the tip of the boom. The boom hoisting rope 22 is let out from the boom hoisting winch W1, hooked on the first mast sheave 151 and the second mast sheave 152 of the tip portion 15B of the mast 15, and then stretched between the first sheave 181 and the second sheave 191. is multiplied by . Note that the tip of the boom hoisting rope 22 after being wound around the first sheave 181 and the second sheave 191 is fixed to the tip 15B of the mast 15 .

The boom hoisting winch W1 is arranged on the base end portion 15A side of the mast 15 . The boom hoisting winch W1 winds and feeds the boom hoisting rope 22 to change the distance between the first sheave 181 and the second sheave 191, thereby moving the boom 14 to the mast 15. The boom 14 is raised and lowered while being relatively rotated.

The crane body 11 further includes a guy line 23, a mast hoisting rope 26, and a mast hoisting winch W2.

A pair of guy lines 23 are arranged in the horizontal direction, for example. The guy line 23 connects the tip portion 15B of the mast 15 and the tip portion of the box mast 16 . This connection coordinates the rotation of the mast 15 and the rotation of the box mast 16 .

The mast hoisting ropes 26 are composed of a sheave block 24 arranged on the upper rotating body 13 and having a plurality of sheaves arranged in the width direction, and a sheave block arranged at the tip of the box mast 16 and having a plurality of sheaves arranged in the width direction. 25 is multiplied multiple times.

The mast hoisting winch W2 is arranged near the base end of the box mast 16 . The mast hoisting winch W2 winds up and lets out the mast hoisting rope 26 . The distance between the sheave block 25 at the tip of the box mast 16 and the sheave block 24 at the rear end of the upper revolving body 13 changes due to the winding and unreeling operations of the mast hoisting winch W2. On the other hand, while the box mast 16 and the mast 15 rotate integrally, the mast 15 moves up and down. The rotation of the mast 15 and the box mast 16 is mainly performed when the crane 10 is assembled, and the positions of the mast 15 and the box mast 16 are fixed during the crane operation of the crane 10 . That is, in the crane operation, the set value of the angle of the mast 15 (the angle of the mast 15 with respect to the ground G) is not changed. The details of the angle of the mast 15 will be described later. Moreover, in the crane operation, the length of the guy line 27 connecting the tip portion 15B of the mast 15 and the counterweight 30 is not changed.

The crane body 11 is equipped with a main hoisting winch W3 and an auxiliary hoisting winch W4 for hoisting and lowering a suspended load, in addition to the mast hoisting winch W2 and the boom hoisting winch W1.

The main hoisting winch W3 performs hoisting and lowering of the suspended load by the main hoisting rope 28 . For this main hoisting, a main hoisting guide sheave (not shown) is rotatably provided at the tip of the boom 14, and a plurality of main hoisting point sheaves are arranged in the width direction adjacent to the main hoisting guide sheave. An array of main hoist sheave blocks is provided. A main hook 17 for a load is connected to a main hoisting rope 28 suspended from a main hoisting sheave block. Then, the main hoisting rope 28 let out from the main hoisting winch W3 is sequentially hooked to the main hoisting guide sheave, and the sheave of the main hoisting sheave block and the sheave of the sheave block provided on the main hook 17 are connected. passed between. Therefore, when the main hoisting winch W3 winds up or lets out the main hoisting rope 28, the main hook 17 is hoisted up and lowered.

Similarly, the auxiliary hoisting winch W4 hoists and lowers the suspended load with the auxiliary hoisting rope 29. As shown in FIG. The auxiliary winding has a structure (not shown) similar to that of the main winding. When the auxiliary hoisting winch W4 winds or unwinds the auxiliary hoisting rope 29, an unillustrated auxiliary hook for hanging load connected to the end of the auxiliary hoisting rope 29 is hoisted or lowered.

The telescopic beam 35 connects the rear portion of the upper revolving body 13 and the weight body 31 of the counterweight 30 . The telescopic beam 35 is configured so that the relative position of the counterweight 30 with respect to the rear portion of the upper swing body 13 can be adjusted. The telescopic beam 35 is a member that has rigidity and extends in the front-rear direction.

In this embodiment, as shown in FIGS. 4 and 5, the telescopic beam 35 is configured to be telescopic in accordance with an increase or decrease in the distance between the upper rotating body 13 and the counterweight 30 . In addition, the telescopic beam 35 is configured so that the angle with respect to the ground G can be increased or decreased according to the increase or decrease in the distance from the ground G of the counterweight 30 . For example, the base end of the telescopic beam 35 is rotatably attached to the rear part of the upper swing body 13, and the distal end of the telescopic beam 35 is rotatable to the weight body 31 of the counterweight 30. attached to the For example, the telescopic beam 35 is configured to be telescopic in the longitudinal direction by arranging two cylindrical members in a nested manner.

The position information detection unit 42 is configured to be able to detect a value related to the relative position (relative position of the counterweight 30 with respect to the rear part of the upper swing body 13). In this embodiment, the position information detection unit 42 can detect the length of the telescopic beam 35 and the angle of the telescopic beam 35 with respect to the horizontal plane (ground G). A means for detecting the angle of the telescopic beam 35 is not particularly limited, and various sensors such as an encoder can be employed. For detecting the length of the expandable beam 35, various length measurement sensors such as laser, LED, ultrasonic, contact, and eddy current sensors can be used.

The extensible beam 35 will be described in detail, taking as an example the case where the counterweight 30 moves backward with respect to the upper rotating body 13 together with the self-propelled carriage 80 . In such a case, the set value of the mast 15 (the optimum angle θ1 described later), the length of the guy line 27, etc. do not change. While moving backward while drawing an arc whose radius is the length of , it rises by a height of Δh1 (see FIG. 5). At this time, the length L1 of the telescopic beam 35 changes to the length L2, and the angle θ4 of the telescopic beam 35 with respect to the horizontal plane (ground G) changes to the angle θ5. These lengths L1, L2 and .theta.4, .theta.5 are detected by the position information detector . These detected values are input to the controller 50 .

Based on the lengths L1, L2 and .theta.4, .theta.5 input to the controller 50, the height change amount .DELTA.h1 is calculated by the following equation (1).

Δh1=L2×sin θ5−L1×sin θ4 (1)

The calculated height change amount Δh1 is used when adjusting the height of the loading platform 83 of the self-propelled carriage 80 . The above calculation is performed by the calculation unit 55 of the controller 50, which will be described later.

In this embodiment, the angle information detector 41 is configured by an angle sensor 41A that detects the angle of the mast 15 (see FIG. 1). As the angle sensor 41A, for example, a sensor 41A such as an encoder or a potentiometer can be used, but the angle sensor 41A is not limited to these. A sensor 41</b>A such as an encoder or potentiometer converts, for example, the number of revolutions or rotational speed of the winch W<b>2 into an electrical signal (detection signal) and inputs the electrical signal (detection signal) to the controller 50 .

The controller 50 of the crane 10 is composed of a CPU, a ROM that stores various control programs, a RAM that is used as a work area for the CPU, and the like. As shown in FIG. 2, the controller 50 includes a storage unit 51, a determination unit 52, a height adjustment unit 53, an angle determination unit 54, and a calculation unit 55 as functions.

The storage unit 51 stores a target value (target range) of the angle of the mast 15 determined based on the specifications of the crane 10 .

Based on the value detected by the angle information detection unit 41 and the target value, the determination unit 52 determines that the self-propelled carriage 80 is in contact with the ground G and the counterweight 30 is in contact with the loading platform 83 of the self-propelled carriage 80. It has a function to determine the contact state. In this embodiment, the determination unit 52 is configured to determine whether or not the value detected by the angle sensor 41A is included in a target range that is a range predetermined as the target value.

When the determination unit 52 determines that the value detected by the angle sensor 41A is not within the target range, the height adjustment unit 53 controls the height adjustment mechanism 61 of the self-propelled carriage 80 to adjust the upper surface of the loading platform 83. to the bottom of the tire 85, the self-propelled carriage 80 and the counterweight 30 are placed in the contact state.

The angle determining section 54 has a function of determining the target value based on target value information including the detected value by the position information detecting section 42 .

For example, when adjusting the height of the loading platform 83 of the self-propelled trolley 80, the calculation unit 55 detects a value detected by the angle information detection unit 41 (for example, the angle of the mast 15) and a detection value by the position information detection unit 42 (for example, It has a function of calculating the adjustment amount of the height of the loading platform 83 based on the length and angle of the telescopic beam 35 . The calculation unit 55 calculates the amount of change Δh1 (see FIG. 5) in the height of the counterweight 30 accompanying the change in the relative position adjusted by the telescopic beam 35 described above, and also calculates, for example, the change in the angle of the mast 15. The amount of change Δh2 in the height of the counterweight 30 associated therewith is calculated. Specifically, when the length of the mast 15 is L and the angle of the mast changes from angle θ1 to angle θ2 shown in FIG. Calculate based on (Δh2=L×sin θ1−L×sin θ2). The amount of change Δh2 in the height of the counterweight 30 due to the change in the angle of the mast 15 can also be detected by, for example, a height detection sensor (not shown) provided at the tip 15B of the mast 15. .

The crane 10 has a working part. When the determination unit 52 determines that the self-propelled carriage 80 and the counterweight 30 are not placed in the contact state, the operation unit places the self-propelled trolley 80 and the counterweight 30 in the contact state. It has a function to perform an operation for In this embodiment, the operation section includes the height adjustment section 53 of the controller 50 and the notification device 57 .

The notification device 57 has, for example, at least one of a sounding unit for emitting sound, a light emitting unit for emitting light, and a display unit for displaying characters, graphics, and the like. The notification device 57 is provided in a place where the operator can easily recognize it, for example, in the driver's cab 131 of the upper revolving structure 13 .

The sound generator has a function of generating a sound that can be recognized by an operator through hearing. For example, the sound generator has an alarm buzzer, a speaker, and the like (not shown). The light emitting unit has a function of emitting light that can be visually recognized by the operator. For example, the light-emitting section includes an indicator light, a revolving light, a signal light, etc. (not shown). The display unit has a function of displaying characters, figures, etc. that can be visually recognized by the operator. For example, the display unit has a display.

[About the angle of the mast]
Generally, when assembling the crane 10 at a work site, the operator prepares the specifications of the crane 10, including the specifications of the boom 14, the specifications of the mast 15, the specifications of the counterweight 30, etc., in the operator's cab 131, for example. input to the controller 50 using the provided input device. Then, the angle determining unit 54 of the controller 50 determines the optimum mast angle (optimal mast angle θ1) for crane work using the crane 10 having the input specifications. Then, the angle of the mast 15 is adjusted to the optimum angle θ1 manually by the operator or automatically by the controller 50, for example.

The process of adjusting the angle of the mast 15 to the optimum angle θ1 as described above is performed when the crane 10 is assembled, and is not normally performed during crane operation using the crane 10 . The reason for this is that the angle of the mast 15 correlates with the capacity (lifting capacity) of the crane 10, so changing the set value (optimal angle θ1) of the angle of the mast 15 during crane operation causes the capacity of the crane 10 to fluctuate. be.

As shown in FIG. 1, when the angle of the mast 15 is adjusted to the optimum angle θ1, the self-propelled trolley 80 is in contact with the ground G and the counterweight 30 is in contact with the loading platform 83 of the self-propelled trolley 80. A self-propelled carriage 80 and a counterweight 30 are arranged in a certain "contact state". That is, the contact state allows the counterweight 30 to be moved by the self-propelled carriage 80 .

By the way, during crane work in which the specifications of the crane 10 are not changed, that is, during crane work in which the lifting capacity of the crane 10 is not changed, the length of the guy line 27 connecting the tip portion 15B of the mast 15 and the counterweight 30 is is not changed. Therefore, the angle of the mast 15 does not change greatly from the optimum angle θ1. However, the mast 15 whose angle with respect to the ground G is adjusted to the optimum angle θ1 does not rotate in the longitudinal direction at all from the position corresponding to the optimum angle θ1. That is, the mast 15 adjusted to the optimum angle θ1 is connected, for example, to the base end portion 15A of the mast 15 and the support member (a member forming part of the upper revolving body 13) to which the base end portion 15A is connected. Due to the presence of a slight gap (play) provided in the portion, it rotates slightly in the front-rear direction. Hereinafter, the range in which the variation of the angle of the mast 15 is allowed due to the play of the connecting portions of the members will be referred to as the rotation allowable range.

On the other hand, in a crane operation using the crane 10, for example, when the angle of the boom 14 with respect to the ground G changes, the position of the center of gravity of the heavy object including the boom 14, the suspended load, the mast 15, the counterweight 30, and the like changes in the longitudinal direction. do. Further, the position of the center of gravity also varies depending on the weight of the load lifted by the boom 14 . Whether or not the angle of the mast 15 fluctuates within the rotation allowable range is determined by the magnitude of the fluctuation in the position of the center of gravity.

Therefore, as shown in FIG. 6, during crane operation, the mast 15 rotates back and forth within the allowable rotation range as the position of the center of gravity changes, and the angle of the mast 15 changes from the optimum angle θ1 to the angle θ2. It may change to the angle θ3. When the angle θ1 of the mast 15 fluctuates within the rotation allowable range, the distance between the lower surface of the counterweight 30 suspended from the tip 15B of the mast 15 by the guy line 27 and the ground G also fluctuates. Therefore, if the angle of the mast 15 fluctuates significantly, the contact state between the self-propelled carriage 80 and the counterweight 30 may not be maintained. In such a case, the counterweight 30 cannot be moved by the self-propelled carriage 80 .

In this embodiment, a target range as the target value of the angle of the mast 15 is set in advance. The target range is stored in the storage unit 51 of the controller 50 . The optimum angle is included in the target range. The target range is determined by the angle determining section 54 of the controller 50 based on the specifications of the crane 10 entered by the operator. The target range is determined, for example, based on the following concept.

When the value detected by the angle sensor 41A (the actual angle of the mast 15) is included in the target range, the self-propelled carriage 80 can be operated without adjusting the height of the loading platform 83 by the height adjustment mechanism 61. and the counterweight 30 are arranged in the contact state. In this contact state, the counterweight 30 can be moved by the self-propelled carriage 80 .

On the other hand, when the detected value by the angle sensor 41A is not included in the target range, the self-propelled carriage 80 is floating from the ground G, or the counterweight 30 is lifted from the loading platform 83 of the self-propelled carriage 80. state, and the self-propelled carriage 80 and the counterweight 30 are not arranged in the contact state. In this state, the counterweight 30 cannot be moved by the self-propelled carriage 80, so the height adjustment mechanism 61 must be used to place the self-propelled carriage 80 and the counterweight 30 in the contact state.

Therefore, the target range is set in advance by simulation, experiment, or the like, based on the above concept, according to the specifications of the mobile crane, the specifications of the self-propelled cart, and the like.

[Counterweight]
As shown in FIGS. 1 and 3, the counterweight 30 includes a weight body 31 and a pallet 32 in this embodiment. The weight body 31 is composed of one weight or a plurality of weights stacked vertically. One or a plurality of weights forming the weight body 31 has, for example, a flat plate shape, but the shape of the weight is not limited to this.

In this embodiment, the weight body 31, the pallet 32, and the self-propelled carriage 80 are configured to be fixed to each other and operate integrally, thereby forming a weight unit. The weight unit has a function of keeping the balance of the crane system 1 as an SHL weight for the crane body 11 to lift a heavy object.

As shown in FIG. 1 , the weight unit is arranged behind the upper swing body 13 . The weight unit is connected to the rear part of the upper rotating body 13 by the telescopic beam 35 . The weight unit is connected to the tip portion 15B of the mast 15 via a guy line 27. As shown in FIG. A lower end of the guy line 27 is attached to at least one of the weight body 31 of the counterweight 30 and the pallet 32 .

As shown in FIG. 3 , the pallet 32 has a mounting portion 33 on which the weight body 31 is placed, and a plurality of (for example, four) leg portions 34 . The mounting portion 33 has, for example, a plate shape having a rectangular shape in plan view. The upper surface of the mounting portion 33 is flat. The plurality of leg portions 34 extend downward from the mounting portion 33 (for example, four corners of the mounting portion 33).

[Self-propelled trolley]
As the self-propelled trolley 80, for example, a general-purpose trolley called a self-propelled multi-axle trolley for transporting heavy objects, an SPMT (Self-Propelled Modular Transporter), or the like can be used. As shown in FIG. 3 , the self-propelled trolley 80 includes a trolley body 81 and a power pack 82 .

The carriage body 81 includes a loading platform 83 and a plurality of traveling units 84 provided below the loading platform 83 . The loading platform 83 has a plate shape having a rectangular shape in a plan view. The upper surface of the loading platform 83 is flat. The loading platform 83 is arranged such that its upper surface faces the lower surface of the mounting portion 33 of the pallet 32 .

The plurality of traveling units 84 are arranged along the longitudinal direction of the loading platform 83 on both sides in the width direction of the loading platform 83 . Each traveling unit 84 is attached to the lower part of the loading platform 83 so as to be rotatable with respect to the loading platform 83 about a vertical central axis. The direction of the tire 85 is changed by rotating each traveling unit 84 around the central axis.

As shown in FIGS. 3 and 7, each traveling unit 84 includes the height adjusting mechanism 61 for adjusting the height of the loading platform 83, tires 85, and axles 85A connected to the tires 85 and extending in the horizontal direction. and a hydraulic motor 85B for rotating the axle 85A.

In this embodiment, the height adjustment mechanism 61 includes a rod-shaped upper shaft 87, a rod-shaped lower shaft 88, and a hydraulic cylinder 86, as shown in FIG. The upper end of the upper shaft 87 is rotatably attached to the loading platform 83 , and the lower end of the upper shaft 87 is rotatably attached to the upper end of the lower shaft 88 . A lower end of the lower shaft is rotatably attached to the tire 85 . The upper end of the hydraulic cylinder 86 is rotatably attached to the upper shaft 87 and the lower end of the hydraulic cylinder 86 is rotatably attached to the lower shaft 88 . Accordingly, the extension and contraction of the hydraulic cylinder 86 increases or decreases the angle θ6 of the upper shaft 87 with respect to the ground G, and increases or decreases the angle θ7 of the lower shaft 88 with respect to the ground G. As a result, the distance between the upper end of the upper shaft 87 and the lower end of the lower shaft 88 increases or decreases in the vertical direction, and the height of the loading platform 83 from the ground G can be adjusted.

The power pack 82 is provided at one longitudinal end 811 of the carriage body 81 . The power pack 82 has a power generator such as an engine 821 , hydraulic pumps 822 and 823 driven by the engine 821 , a controller 60 that controls them, and an operator's cab 825 .

The controller 60 of the self-propelled trolley 80 has a platform height adjusting section 63 and a driving section 64 as functions.

The drive unit 64 of the controller 60 controls the operation of the drive mechanism 62, specifically the operation of the hydraulic pump 822, thereby operating the hydraulic motor 85B and causing the self-propelled carriage 80 to travel. The drive mechanism 62 includes a hydraulic pump 822, a hydraulic motor 85B and an axle 85A. The drive mechanism 62 is for driving the tires 85 of the self-propelled cart 80 .

In addition, the bed height adjustment unit 63 of the controller 60 controls the operation of the height adjustment mechanism 61, specifically the operation of the hydraulic pump 823, thereby operating the hydraulic cylinder 86 to adjust the height of the bed 83 (load bed 83) is adjusted. The height adjustment mechanism 61 includes an upper shaft 87 , a lower shaft 88 , a hydraulic cylinder 86 and a hydraulic pump 823 .

As shown in FIG. 3, the self-propelled cart 80 has a remote control device 801 (remote controller) for remote control by an operator. By operating the remote control device 801, the operator operates the hydraulic motor 85B, the hydraulic cylinder 86, and the like via the bed height adjusting section 63, the driving section 64, and the like of the controller 60, thereby operating the self-propelled carriage. 80 can be run and stopped, the running speed can be adjusted, and the height of the bed 83 can be adjusted. Communication between the remote control device 801 and the controller 60 may be wireless or wired.

Further, the height adjusting unit 53 in the controller 50 of the crane 10 inputs a command signal for adjusting the height of the bed 83 to the bed height adjusting unit 63 in the controller 60 of the self-propelled carriage 80 . The height of the loading platform 83 can be adjusted by operating the hydraulic cylinder 86 via the height adjusting portion 63 . Further, the controller 50 of the crane 10 inputs a command signal regarding the traveling of the self-propelled carriage 80 to the drive section 64 of the controller 60 of the self-propelled carriage 80 , thereby By operating the hydraulic motor 85B, the self-propelled carriage 80 can be caused to travel. The communication between the controller 50 of the crane 10 and the controller 60 of the self-propelled carriage 80 may be wireless or wired.

As shown in FIG. 3 , the operator manipulates the self-propelled carriage 80 to enter below the placing portion 33 of the pallet 32 . The self-propelled carriage 80 enters below the placement section 33 in the approach direction D with the other end 812 opposite to the one end 811 of the carriage body 81 on which the power pack 82 is provided. The operation of the self-propelled trolley 80 may be performed by the operator in the driver's cab 825 of the self-propelled trolley 80, or by operating the remote control device 801 outside the self-propelled trolley 80. Alternatively, the operator may do so in the cab 131 of the crane 10 . Then, when the loading platform 83 of the self-propelled carriage 80 reaches an appropriate position below the mounting portion 33 of the pallet 32, the operator stops the self-propelled carriage 80. FIG.

Next, after confirming that the self-propelled carriage 80 has stopped, the operator raises the carriage 83 of the self-propelled carriage 80 to increase the height of the carriage 83 . The lifting of the loading platform 83 is performed to a position where the loading platform 83 pushes up the mounting portion 33 of the pallet 32 and the leg portions 34 of the pallet 32 are separated from the ground G. As a result, the pallet 32 and the weight body 31 are supported by the carrier 83 of the self-propelled carriage 80 .

After that, the operator connects and integrates the weight body 31, the pallet 32, and the self-propelled carriage 80 by fixing them at a plurality of locations with fixing means such as connecting pins. Note that the connection between the weight body 31 and the pallet 32 may be performed in advance before the loading platform 83 of the self-propelled carriage 80 is lifted.

After that, the operator operates the self-propelled truck 80 to move the weight unit including the weight body 31 , the pallet 32 and the self-propelled truck 80 to the vicinity of the crane body 11 . Then, as shown in FIG. 1 , the weight unit is connected to the rear part of the upper swing body 13 by a telescopic beam 35 .

Finally, the lower ends of the guy lines 27 are fixed to at least one of the weight body 31 and the pallet 32 . As a result, the weight unit can be used as an SHL weight for keeping the balance of the crane 10 .

[Control example]
FIG. 8 is a flow chart showing a control example in the crane system 1 including the crane 10 and the self-propelled carriage 80 according to this embodiment.

When the crane 10 is assembled at the work site, the operator inputs the specifications of the crane 10 including the specifications of the boom 14, the specifications of the mast 15, the specifications of the counterweight 30, etc. Input to the controller 50 using the device. The input data is stored in the storage unit 51 .

Then, the controller 50 determines the optimal angle θ1 of the mast 15, the mast 15, the length of the guy line 27, the length of the boom 14, the length of the telescopic beam 35, etc. are determined (step S1). For example, the angle determining unit 54 of the controller 50 determines the optimum angle of the mast 15 (optimal angle θ1 of the mast 15) for crane work using the crane 10 according to the specification based on the data stored in the storage unit 51. is determined (step S2).

Further, the angle determination unit 54 of the controller 50 determines a target range as a target value of the angle of the mast 15 based on the data stored in the storage unit 51 (step S2). The optimum angle θ1 of the mast 15 is included in the target range.

Based on the eigenvalues of the constituent members determined as described above, the crane 10 is assembled and the angle of the mast 15 is adjusted to the optimum angle θ1. The angle of the mast 15 is adjusted, for example, manually by an operator or automatically by the controller 50 to the optimum angle θ1. After the crane 10 is assembled, unless the specifications of the crane 10 are changed, the set value (optimal angle θ1) of the angle of the mast 15, the target value (target range) of the angle of the mast 15, and the length of the guy line 27 are , unchanged.

When the angle of the mast 15 is adjusted to the optimum angle θ1, the self-propelled trolley 80 is in contact with the ground G and the counterweight 30 is in contact with the loading platform 83 of the self-propelled trolley 80, which is a “contact state”. , the self-propelled carriage 80 and the counterweight 30 are arranged. Specifically, in this embodiment, the operator raises the loading platform 83 of the self-propelled carriage 80 that has entered below the placing portion 33 of the pallet 32 by the height adjustment mechanism 61 to adjust the height of the loading platform 83. Enlarge. The lifting of the loading platform 83 is performed to a position where the loading platform 83 pushes up the mounting portion 33 of the pallet 32 and the leg portions 34 of the pallet 32 are separated from the ground G. As a result, the pallet 32 and the weight body 31 are supported by the carrier 83 of the self-propelled carriage 80 . At this time, the guy line 27 is stretched from one end to the other end without slack. In such a state (contact state), the counterweight 30 can be moved by the self-propelled carriage 80 .

Next, the operator actually starts crane work. In the crane operation, for example, the upper swing body 13 swings around the swing center C (see FIG. 4), and the crane main body 11 advances or retreats forward and backward. When the upper rotating body 13 is turned and the crane main body 11 is moved forward and backward, the self-propelled carriage 80 must follow the turning movement and the forward and backward movement. In order for the self-propelled truck 80 to perform the follow-up operation, the self-propelled truck 80 is in contact with the ground G, the pallet 32 is in contact with the loading platform 83 of the self-propelled truck 80, and the placing portion 33 of the pallet 32 is in contact. It is necessary that the counterweight 30 and the self-propelled carriage 80 are arranged so that the weight body 31 is in contact (contact state).

Therefore, in the crane operation in this embodiment, the processing of steps S3 to S7 in the flow chart shown in FIG. 8 is repeatedly performed.

In the above-described crane operation, when a turning operation or forward/backward operation is performed, the height difference between the ground surface G with which the lower traveling body 12 is in contact and the ground surface G with which the self-propelled carriage 80 is in contact is the height difference at the start of the crane operation. may vary compared to In addition, the position of the center of gravity of the crane 10 in the front-rear direction may fluctuate due to the hoisting motion of the boom 14 or the like. When these variations occur, the angle of the mast 15 may vary from the optimum position θ1, and the angle of the telescopic beam 35 may vary.

In step S<b>3 , the position information detection unit 42 detects the state of the telescopic beam 35 . Specifically, the position information detection unit 42 detects the length of the telescopic beam 35 and the angle of the telescopic beam 35 with respect to the horizontal plane (ground G). Also, the angle sensor 41A detects the angle of the mast 15 (step S4).

Next, the determination unit 52 determines whether or not the value detected by the angle sensor 41A (the angle of the mast 15) is included in the target range (step S5).

When the determination unit 52 determines that the value detected by the angle sensor 41A is not included in the target range (NO in step S5), the calculation unit 55 calculates the value detected by the angle sensor 41A (the angle of the mast 15), position information Based on the values detected by the detector 42 (the length and angle of the telescopic beam 35), the adjustment amount h of the height of the loading platform 83 is calculated (step S6). As shown in FIG. 7, the height adjusting unit 53 that constitutes the operating unit controls the height adjusting mechanism 61 of the self-propelled carriage 80 to adjust the height of the loading platform 83 according to the adjustment calculated by the calculating unit 55. It is increased or decreased by the amount h (step S7).

The height adjustment unit 53 of the controller 50 may directly control the height adjustment mechanism 61 of the self-propelled carriage 80. However, as shown in FIG. The height adjustment mechanism 61 may be controlled via the height adjustment section 63 .

[Modification]
The invention is not limited to the embodiments described above. The present invention includes, for example, the following forms.

A) Angle Information Detector In the above-described embodiment, the angle information detector 41 is configured by the angle sensor 41A that detects the angle of the mast 15, but is not limited to this. The angle information detection section 41 may detect a corresponding value corresponding to the angle of the mast 15 . The angle information detection unit 41 may be composed of, for example, a height information detection sensor 41B (see FIG. 7) capable of detecting a value related to the height of the counterweight 30 as the corresponding value.

The distance between the ground G and the counterweight 30 connected to the tip portion 15B of the mast 15 via the guy line 27 correlates with the angle of the mast 15 . Therefore, a value related to the height of the loading platform 83 of the self-propelled carriage 80 or a value related to the height of the counterweight 30 can be used as the corresponding value. In crane work, when the counterweight 30 is fixed to the self-propelled truck 80, when the mast 15 rotates forward and the angle of the mast 15 increases, the counterweight 30 and the self-propelled truck 80 move to the ground G. rise from On the other hand, when the counterweight 30 is not fixed to the self-propelled carriage 80 , when the mast 15 rotates forward and the angle of the mast 15 increases, the counterweight 30 is lifted from the loading platform 83 of the self-propelled carriage 80 . It floats and the self-propelled carriage 80 remains grounded.

In the example shown in FIG. 7, since the counterweight 30 is fixed to the self-propelled truck 80, the height information detection sensor 41B is provided on the loading platform 83 of the self-propelled truck 80, and the height of the loading platform 83 is measured. can be detected.

In step S4 shown in FIG. 8, the height information detection sensor 41B detects a value related to the height of the loading platform 83 of the self-propelled carriage 80 as the corresponding value, and the determination unit 52 detects the detected value (corresponding value). is included in the target range, which is the range predetermined as the target value (step S5). Here, the correlation value is a value that correlates with the detection value (information about height) detected by the height information detection sensor 41B, and is a converted value that can be compared with the target value of the angle of the mast 15. . Correlation between the correlation value and the detected value is determined in advance by simulation, experiment, or the like according to the specifications of the crane 10, the specifications of the self-propelled carriage 80, and the like. Other configurations are the same as those of the above-described embodiment, so description thereof will be omitted.

B) About the hoisting member In the above-described embodiment, the hoisting member is configured by the boom 14, but it may include the boom 14 and a jib connected to the tip thereof.

C) Counterweight and self-propelled truck In the above-described embodiment, the counterweight 30 is fixed to the self-propelled truck 80, but the present invention is not limited to this. The counterweight 30 does not have to be fixed to the self-propelled cart 80 . In such a case, the height information detection sensor 41B is configured to detect the height of the lower surface of the counterweight 30 .

D) Telescopic Beam During crane operation, the length of the telescopic beam 35 is not changed. This is because the capacity of the crane 10 changes when the length of the telescopic beam 35 is changed during crane operation. However, when the length of the telescopic beam 35 is changed between crane operations and the specifications of the crane 10 are changed, the angle determination unit 54 may detect, for example, the value detected by the position information detection unit 42, The target value of the angle of the mast 15 can be determined to a value suitable for the changed crane specifications based on the target value information including data on the specification of the mast 15, data on the specification of the counterweight 30, and the like. In the changed crane specifications, the crane system 1 is controlled, for example, according to the control example of the flow chart of FIG. 8 using the new target value determined by the angle determining section 54 as described above.

When the length of the telescopic beam 35 is changed, the height of the self-propelled carriage 80 or the height of the counterweight 30 may change by the change amount Δh1 as shown in FIG. 5 described above. Even in such a case, by adjusting the height of the loading platform 83 of the self-propelled truck 80, the self-propelled truck 80 and the counterweight 30 can be arranged in the contact state. On the other hand, in a crane system equipped with a truck that does not have a height adjustment mechanism, in the above case, the length of the guy line that supports the counterweight is adjusted, or the angle of the mast is adjusted using a winch to adjust the truck. and the counterweight must be placed in said contact state. In order to adjust the length of the guy line, it is necessary to provide the guy line with a telescopic mechanism such as a hydraulic cylinder, which causes problems such as an increase in cost and a need for complicated control. The operation of adjusting the angle of the mast using a winch is a large-scale operation compared to the operation of adjusting the height of the loading platform of the self-propelled trolley.

In the previous embodiment, the telescopic beam 35 connecting the rear part of the upper rotating body 13 and the counterweight 30 may be omitted.

E) Notification Device In the flowchart shown in FIG. 8, for example, the controller 50 may control the notification device 57 to notify the operator of the determination result after the determination (step S5) by the determination section 52. . Further, the controller 50 may be configured to warn the operator when the determination unit 52 determines that the contact state is abnormal. Further, the controller 50 may control the notification device 57 to notify the operator of the calculation result after the calculation by the calculation unit 55 (step S6).

F) Target Value In the above embodiment, a target range (numerical range) is used as the target value of the angle of the mast 15, but the target value may be a specific numerical value set in advance.

REFERENCE SIGNS LIST 10 mobile crane 12 lower running body 13 upper rotating body 14 boom 15 mast 15A base end of mast 15B tip end of mast 27 guy line 30 counterweight 31 weight body 32 pallet 33 placement section 35 telescopic beam 41 angle information detection section 41A Angle sensor 41B Information detection sensor 42 Position information detection unit 50 Controller 51 Storage unit 52 Determination unit 53 Height adjustment unit 54 Angle determination unit 55 Calculation unit 57 Notification device 60 Self-propelled cart controller 61 Height adjustment mechanism 80 Self-propelled type Carriage 83 Carrier of self-propelled cart G Ground θ1 Mast angle (optimal angle)
θ2, θ3 Mast angle

Claims (6)

A mobile crane used with a self-propelled truck having a loading platform and a height adjusting mechanism for adjusting the height of the loading platform,
a lower running body;
an upper rotating body rotatably mounted on the lower traveling body;
a boom rotatably attached to the upper rotating body;
a mast rotatably attached to the upper revolving structure and supporting the boom from behind;
a counterweight supported by the loading platform of the self-propelled trolley;
a guy line connecting the tip of the mast and the counterweight;
an angle information detection unit that detects the angle of the mast or a corresponding value corresponding to the angle;
a storage unit that stores a target value of the mast angle determined based on the specifications of the mobile crane;
Based on the value detected by the angle information detection unit and the target value, a contact state is determined in which the self-propelled carriage is in contact with the ground and the counterweight is in contact with the loading platform of the self-propelled carriage. a determination unit;
an operating part;
The counterweight has a weight body and a mounting portion on which the weight body is placed, and the self-propelled cart moves the loading platform below the mounting portion of the counterweight by traveling. It is a self-propelled trolley that can be
When the determination unit determines that the self-propelled carriage and the counterweight are not arranged in the contact state, the operation unit controls the height adjustment mechanism to move the self-propelled carriage and the counter weight. A mobile crane , including a height adjustment for placing the weight in said contact state. A mobile crane according to claim 1,
The mobile crane, wherein the operation unit includes a notification device for notifying an operator of information regarding the contact state. The mobile crane according to claim 1 or 2,
The angle information detection unit includes an angle sensor that detects the angle of the mast,
The determination unit is configured to determine whether the value detected by the angle sensor is included in a target range that is a range predetermined as the target value,
The height adjustment unit controls the height adjustment mechanism of the self-propelled trolley to control the self-propelled trolley when the determination unit determines that the value detected by the angle sensor is not included in the target range. a mobile crane that places a dolly and said counterweight in said contact. The mobile crane according to claim 1 or 2,
The angle information detection unit includes a height information detection sensor that detects a value related to the height of the loading platform of the self-propelled trolley as the corresponding value or a value related to the height of the counterweight as the corresponding value,
The determination unit is configured to determine whether or not a correlation value correlated with a value detected by the height information detection sensor is included in a target range, which is a range predetermined as the target value,
When the determination unit determines that the correlation value is not included in the target range, the height adjustment unit controls the height adjustment mechanism of the self-propelled trolley to A mobile crane for placing the counterweight in said contact. The mobile crane according to any one of claims 1 to 4,
a telescopic beam that connects the rear portion of the upper rotating body and the counterweight and that is capable of adjusting the relative position of the counterweight with respect to the rear portion of the upper rotating body;
a position information detection unit that detects a value related to the relative position;
a mobile crane, further comprising an angle determination unit that determines the target value based on target value information including the detected value by the position information detection unit. A mobile crane according to any one of claims 1 to 5;
and the self-propelled carriage.

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