Title of invention: Crane
Technical field
[0001]
　The present invention relates to a crane including a telescopic boom.
Background technology
[0002]
　Patent Document 1 discloses a telescopic boom in which a plurality of boom elements are nested (also referred to as a telescopic shape), and a mobile crane provided with a hydraulic telescopic cylinder for extending the telescopic boom. ..
[0003]
　The telescopic boom has a boom connecting pin that connects adjacent and overlapping boom elements. The boom element (hereinafter, referred to as a displaceable boom element) that has been disconnected by the boom connecting pin can be displaced in the longitudinal direction (also referred to as expansion / contraction direction) with respect to other boom elements.
[0004]
　The telescopic cylinder has a rod member and a cylinder member. Such a telescopic cylinder connects a cylinder member to the displaceable boom element via a cylinder connecting pin. When the cylinder member is displaced in the expansion / contraction direction in this state, the displaceable boom element is displaced together with the cylinder member, and the telescopic boom expands / contracts.
Prior art literature
Patent documents
[0005]
Patent Document 1: Japanese Unexamined Patent Publication No. 2012-96928
Outline of the invention
Problems to be solved by the invention
[0006]
　By the way, the crane as described above includes a hydraulic actuator that displaces the boom connecting pin, a hydraulic actuator that displaces the cylinder connecting pin, and a hydraulic circuit that supplies pressure oil to each of these actuators. Such hydraulic circuits are provided, for example, around a telescopic boom. This can reduce the degree of freedom in design around the telescopic boom.
[0007]
　An object of the present invention is to provide a crane capable of increasing the degree of freedom of design around a telescopic boom.
Means to solve problems
[0008]
　The crane according to the present invention includes a telescopic boom having an inner boom element and an outer boom element that are stretchably overlapped with each other, and a telescopic actuator that displaces one of the inner boom element and the outer boom element in the telescopic direction. A first connection that operates based on the power of at least one electric drive source provided in the telescopic actuator and the electric drive source, and switches between a connected state and a non-connected state of the telescopic actuator and one boom element. It includes a mechanism and a second coupling mechanism that operates based on the power of an electrical drive source and switches between a connected state and a non-connected state of the inner boom element and the outer boom.
Effect of the invention
[0009]
　According to the present invention, the degree of freedom in design around the telescopic boom can be improved.
A brief description of the drawing
[0010]
FIG. 1 is a schematic view of a mobile crane according to a first embodiment.
2A to 2E are schematic views for explaining the structure and expansion / contraction operation of the telescopic boom.
FIG. 3A is a perspective view of the actuator.
FIG. 3B is an enlarged view of part A of FIG. 3A.
FIG. 4 is a partial plan view of the actuator.
FIG. 5 is a partial side view of the actuator.
FIG. 6 is a view of an actuator holding a boom connecting pin as viewed from the right side of FIG.
FIG. 7 is a perspective view of a pin displacement module holding a boom connecting pin.
FIG. 8 is a front view of a pin displacement module in an expanded state and holding a boom connecting pin.
FIG. 9 is a view from the left side of FIG.
FIG. 10 is a view from the right side of FIG.
FIG. 11 is a view seen from above in FIG.
FIG. 12 is a front view of a pin displacement module in which the boom connecting mechanism is in the reduced state and the cylinder connecting mechanism is in the expanded state.
FIG. 13 is a front view of a pin displacement module in which the boom connecting mechanism is in the expanded state and the cylinder connecting mechanism is in the reduced state.
FIG. 14A is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 14B is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 14C is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 14D is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 15A is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 15B is a schematic diagram for explaining the operation of the locking mechanism.
FIG. 16 is a timing chart during the extension operation of the telescopic boom.
FIG. 17A is a schematic diagram for explaining the operation of the cylinder connecting mechanism.
FIG. 17B is a schematic diagram for explaining the operation of the cylinder connecting mechanism.
FIG. 17C is a schematic diagram for explaining the operation of the cylinder connecting mechanism.
FIG. 18A is a schematic diagram for explaining the operation of the boom connecting mechanism.
FIG. 18B is a schematic diagram for explaining the operation of the boom connecting mechanism.
FIG. 18C is a schematic diagram for explaining the operation of the boom connecting mechanism.
FIG. 19A is a diagram showing a position information detection device for a crane according to a second embodiment of the present invention.
FIG. 19B is a view of the position information detection device shown in FIG. 19A as viewed from the direction of arrow Ar .
[Figure 19C] FIG. 19C, C of FIG. 19A 1a -C 1a is a cross-sectional view taken along line.
[FIG. 19D] FIG. 19D, C of FIG. 19A 1b -C 1b is a sectional view taken along the line.
FIG. 20 is a diagram for explaining the operation of the position information detecting device of the crane according to the second embodiment.
FIG. 21A is a diagram showing a position information detection device for a crane according to a third embodiment of the present invention.
FIG. 21B is a view of the position information detection device shown in FIG. 21A as viewed from the direction of arrow Ar .
[FIG. 21C] FIG. 21C, C of FIG. 21A 2a -C 2a is a cross-sectional view taken along line.
FIG 21D] FIG 21D is, C in FIG. 21A 2b -C 2b is a sectional view taken along the line.
FIG 21E] FIG 21E is, C in FIG. 21A 2c -C 2c is a sectional view taken along the line.
FIG. 22 is a diagram for explaining the operation of the position information detecting device of the crane according to the third embodiment.
FIG. 23A is a diagram showing a position information detecting device for a crane according to a fourth embodiment of the present invention.
FIG. 23B is a view of the position information detection device shown in FIG. 23A as viewed from the direction of arrow Ar .
[FIG. 23C] FIG. 23C, C of FIG. 23A 3a -C 3a is a sectional view taken along the line.
FIG 23D] FIG 23D is, C in FIG. 23A 3b -C 3b is a sectional view taken along the line.
FIG. 24 is a diagram for explaining the operation of the crane position information detecting device according to the fourth embodiment.
FIG. 25A is a diagram showing a position information detecting device for a crane according to a fifth embodiment of the present invention.
FIG. 25B is a view of the position information detecting device shown in FIG. 25A as viewed from the direction of arrow Ar .
[FIG. 25C] FIG. 25C, C of FIG. 25A 4a -C 4a is a sectional view taken along the line.
FIG. 25D is C of FIG. 25A. It is sectional drawing of 4b- C 4b line.
FIG 25E] FIG 25E is, C in FIG. 25A 4c -C 4c is a sectional view taken along the line.
FIG. 26 is a diagram for explaining the operation of the crane position information detecting device according to the fifth embodiment.
FIG. 27A is a diagram showing a position information detection device for a crane according to a sixth embodiment of the present invention.
FIG. 27B is a view of the position information detection device shown in FIG. 27A as viewed from the direction of arrow Ar .
[FIG. 27C] FIG. 27C, C of FIG. 27A 5a -C 5a is a cross-sectional view taken along line.
FIG 27D] FIG 27D is, C in FIG. 27A 5b -C 5b is a sectional view taken along the line.
FIG. 28 is a diagram for explaining the operation of the crane position information detecting device according to the sixth embodiment.
FIG. 29A is a diagram showing a position information detection device for a crane according to a seventh embodiment of the present invention.
FIG. 29B shows the position information detector shown in FIG. 29A as arrow A. It is a figure seen from the direction of r .
[FIG. 29C] FIG. 29C, C of FIG. 29A 6a -C 6a is a cross-sectional view taken along line.
[Figure 29D] FIG. 29D, C of FIG. 29A 6b -C 6b is a sectional view taken along the line.
FIG 29E] FIG 29E is, C in FIG. 29A 6c -C 6c is a cross-sectional view taken along line.
FIG. 30 is a diagram for explaining the operation of the position information detecting device of the crane according to the seventh embodiment.
FIG. 31A is a diagram showing a position information detection device for a crane according to the eighth embodiment of the present invention.
FIG. 31B is a view of the position information detecting device shown in FIG. 31A as viewed from the direction of arrow Ar .
FIG 31C] FIG 31C is, C in FIG. 31A 7a -C 7a is a sectional view taken along the line.
[Fig. 31D] Fig. 31D shows C 7b- C 7b of FIG. 31A. It is a line sectional view.
FIG. 32 is a diagram for explaining the operation of the position information detecting device of the crane according to the eighth embodiment.
FIG. 33A is a diagram showing a position information detection device for a crane according to a ninth embodiment of the present invention.
FIG. 33B is a view of the position information detection device shown in FIG. 33A as viewed from the direction of arrow Ar .
FIG 33C] FIG 33C is, C in FIG. 33A 8a -C 8a is a cross-sectional view taken along line.
FIG 33D] FIG 33D is, C in FIG. 33A 8b -C 8b is a cross-sectional view taken along line.
FIG 33E] FIG 33E is, C in FIG. 33A 8c -C 8c is a sectional view taken along the line.
FIG. 34 is a diagram for explaining the operation of the crane position information detecting device according to the ninth embodiment.
Mode for carrying out the invention
[0011]
　Hereinafter, some examples of the embodiments according to the present invention will be described in detail with reference to the drawings. It should be noted that each embodiment described below is an example of a mobile crane according to the present invention, and the present invention is not limited to each embodiment.
[0012]
　[1. Embodiment 1]
　FIG. 1 is a schematic view of a mobile crane 1 (rough terrain crane in the case of illustration) according to the present embodiment.
[0013]
　Examples of the mobile crane include an all-terrain crane, a truck crane, and a loaded truck crane (also referred to as a cargo crane). However, the crane according to the present invention is not limited to a mobile crane, and can be applied to other cranes provided with a telescopic boom.
[0014]
　Hereinafter, first, the outline of the mobile crane 1 and the telescopic boom 14 included in the mobile crane 1 will be described. After that, the specific structure and operation of the actuator 2, which is a feature of the mobile crane 1 according to the present embodiment, will be described.
[0015]
　[1.1 Mobile Crane] The
　mobile crane 1 shown in FIG. 1 has a traveling body 10 having a plurality of wheels 101, outriggers 11 provided at four corners of the traveling body 10, and an upper portion of the traveling body 10. A swivel base 12 provided so as to be swivel, a telescopic boom 14 whose base end is fixed to the swivel base 12, an actuator 2 (omitted in FIG. 1) that expands and contracts the telescopic boom 14, and a telescopic boom 14 A undulating cylinder 15 for undulating the undulating boom 14, a wire 16 hanging from the tip of the telescopic boom 14, and a hook 17 provided at the tip of the wire 16 are provided.
[0016]
　[About the telescopic boom]
　Next, the telescopic boom 14 will be described with reference to FIGS. 1 and 2. FIG. 2 is a schematic view for explaining the structure and expansion / contraction operation of the telescopic boom 14.
[0017]
　FIG. 1 shows a telescopic boom 14 in an extended state. On the other hand, FIG. 2A shows a telescopic boom 14 in a contracted state. FIG. 2E shows a telescopic boom 14 in which only the tip boom element 141, which will be described later, is extended.
[0018]
　The telescopic boom 14 is composed of a plurality of (at least a pair) boom elements. Each of the boom elements is tubular and telescopically combined. Specifically, in the contracted state, the plurality of boom elements are the tip boom element 141, the intermediate boom element 142, and the proximal boom element 143 in order from the inside.
[0019]
　In the case of the present embodiment, the tip boom element 141 and the intermediate boom element 142 are boom elements that can be displaced in the expansion / contraction direction. On the other hand, the displacement of the base end boom element 143 in the expansion / contraction direction is restricted.
[0020]
　By extending the telescopic boom 14 in order from the boom element (that is, the tip boom element 141) arranged inside, the state transitions from the contracted state shown in FIG. 2A to the extended state shown in FIG.
[0021]
　In the extended state, the intermediate boom element 142 is arranged between the proximal end boom element 143 on the most proximal end side and the distal boom element 141 on the most distal end side. There may be a plurality of intermediate boom elements.
[0022]
　The telescopic boom 14 is substantially the same as the conventionally known telescopic boom, but for convenience of explanation regarding the structure and operation of the actuator 2 described later, the structures of the tip boom element 141 and the intermediate boom element 142 are described below. explain.
[0023]
　[About the tip boom element] The
　tip boom element 141 has a tubular shape and has an internal space that can accommodate the actuator 2. The tip boom element 141 has a pair of cylinder pin receiving portions 141a and a pair of boom pin receiving portions 141b at the base end portion.
[0024]
　The pair of cylinder pin receiving portions 141a are formed coaxially with each other at the base end portion of the tip boom element 141. The pair of cylinder pin receiving portions 141a can be engaged with and disengaged from the pair of cylinder connecting pins 454a and 454b (also referred to as the first connecting member) provided on the cylinder member 32 of the telescopic cylinder 3, respectively (that is, in an engaged state). Or take one of the detached states).
[0025]
　The cylinder connecting pins 454a and 454b are displaced in their own axial direction based on the operation of the cylinder connecting mechanism 45 included in the actuator 2 described later. With the pair of cylinder connecting pins 454a and 454b and the pair of cylinder pin receiving portions 141a engaged, the tip boom element 141 can be displaced in the expansion and contraction direction together with the cylinder member 32.
[0026]
　The pair of boom pin receiving portions 141b are formed coaxially with each other on the proximal end side of the cylinder pin receiving portion 141a. Each of the boom pin receiving portions 141b can be engaged with and detached from the pair of boom connecting pins 144a (also referred to as a second connecting member).
[0027]
　The pair of boom connecting pins 144a connect the tip boom element 141 and the intermediate boom element 142, respectively. The pair of boom connecting pins 144a are displaced in their own axial direction based on the operation of the boom connecting mechanism 46 included in the actuator 2.
[0028]
　In a state where the tip boom element 141 and the intermediate boom element 142 are connected by a pair of boom connecting pins 144a, the boom pin receiving portion 141b of the tip boom element 141 and the first boom pin receiving portion 142b or the first boom pin receiving portion 142b of the intermediate boom element 142 described later (2) The boom connecting pin 144a is inserted through the boom pin receiving portion 142c so as to be bridged.
[0029]
　In a state where the tip boom element 141 and the intermediate boom element 142 are connected (also referred to as a connected state), the tip boom element 141 cannot be displaced with respect to the intermediate boom element 142 in the expansion / contraction direction.
[0030]
　On the other hand, in a state where the tip boom element 141 and the intermediate boom element 142 are disconnected (also referred to as a non-connected state), the tip boom element 141 can be displaced with respect to the intermediate boom element 142 in the expansion / contraction direction.
[0031]
　[About the intermediate boom element] The
　intermediate boom element 142 has a tubular shape as shown in FIG. 2 and has an internal space capable of accommodating the tip boom element 141. The intermediate boom element 142 has a pair of cylinder pin receiving portions 142a, a pair of first boom pin receiving portions 142b, and a pair of third boom pin receiving portions 142d at the base end portion.
[0032]
　The pair of cylinder pin receiving portions 142a and the pair of first boom pin receiving portions 142b are substantially the same as the pair of cylinder pin receiving portions 141a and the pair of boom pin receiving portions 141b of the tip boom element 141, respectively.
[0033]
　The pair of third boom pin receiving portions 142d are formed coaxially with each other on the proximal end side of the pair of first boom pin receiving portions 142b. A boom connecting pin 144b can be inserted into each of the pair of third boom pin receiving portions 142d. The boom connecting pin 144b connects the intermediate boom element 142 and the proximal boom element 143.
[0034]
　Further, the intermediate boom element 142 has a pair of second boom pin receiving portions 142c at the tip end portion. The pair of second boom pin receiving portions 142c are formed coaxially with each other at the tip portions of the intermediate boom element 142. A pair of boom connecting pins 144a can be inserted into each of the pair of second boom pin receiving portions 142c.
[0035]
　[Actuator]
　Hereinafter, the actuator 2 will be described with reference to FIGS. 3A to 18C. The actuator 2 is an actuator that expands and contracts the telescopic boom 14 (see FIGS. 1 and 2) as described above.
[0036]
　First, the outline of the actuator 2 will be described. The actuator 2 is, for example, a telescopic cylinder 3 that displaces the tip boom element 141 of the tip boom elements 141 (also referred to as inner boom elements) and the intermediate boom elements 142 (also referred to as outer boom elements) that are adjacent to each other in the telescopic direction. (Also referred to as a telescopic actuator), at least one electric motor 41 (also referred to as an electric drive source) provided in the telescopic cylinder 3, and a pair of cylinder connecting pins 454a and 454b based on the power of the electric motor 41. A cylinder connecting mechanism 45 (also referred to as a first connecting mechanism) that switches between a connected state and a non-connected state of the telescopic cylinder 3 and the tip boom element 141 by displacement (also referred to as a first connecting member) and an electric motor. A boom connection that switches between the connected state and the unconnected state of the tip boom element 141 and the intermediate boom element 142 by displacement of the pair of boom connecting pins 144a (also referred to as the second connecting member) based on the power of the motor 41. It includes a mechanism 46 (also referred to as a second connecting mechanism).
[0037]
　Next, a specific configuration of each part included in the actuator 2 will be described. The actuator 2 has a telescopic cylinder 3 and a pin displacement module 4. The actuator 2 is arranged in the internal space of the tip boom element 141 in the contracted state (state shown in FIG. 2A) of the telescopic boom 14.
[0038]
　[About the telescopic cylinder] The
　telescopic cylinder 3 has a rod member 31 (also referred to as a fixed side member; see FIG. 2) and a cylinder member 32 (also referred to as a movable side member). Such a telescopic cylinder 3 displaces the boom element (for example, the tip boom element 141 or the intermediate boom element 142) connected to the cylinder member 32 via the cylinder connecting pins 454a and 454b described later in the telescopic direction. Since the telescopic cylinder 3 is almost the same as the conventionally known telescopic cylinder, detailed description thereof will be omitted.
[0039]
　[About the pin displacement module] The
　pin displacement module 4 includes a housing 40, an electric motor 41, a brake mechanism 42, a transmission mechanism 43, a position information detection device 44, a cylinder connecting mechanism 45, a boom connecting mechanism 46, and a lock mechanism 47 ( (See FIG. 8).
[0040]
　Hereinafter, each member constituting the actuator 2 will be described with reference to a state of being incorporated in the actuator 2. Further, in the description of the actuator 2, the Cartesian coordinate system (X, Y, Z) shown in each figure is used. However, the arrangement of each part constituting the actuator 2 is not limited to the arrangement of the present embodiment.
[0041]
　In the Cartesian coordinate system shown in each figure, the X direction coincides with the expansion / contraction direction of the telescopic boom 14 mounted on the mobile crane 1. The + side in the X direction is also referred to as an extension direction in the expansion / contraction direction. On the other hand, the X direction-side is also referred to as a contraction direction in the expansion / contraction direction. Further, the Z direction coincides with, for example, the vertical direction of the mobile crane 1. The Y direction coincides with, for example, the vehicle width direction of the mobile crane 1. However, the Y direction and the Z direction are not limited to the above-mentioned directions as long as they are two directions orthogonal to each other.
[0042]
　[About the housing] The
　housing 40 is fixed to the cylinder member 32 of the telescopic cylinder 3. The housing 40 accommodates the cylinder connecting mechanism 45 and the boom connecting mechanism 46 in the internal space. Further, the housing 40 supports the electric motor 41 via the transmission mechanism 43. Further, the housing 40 also supports a brake mechanism 42, which will be described later. That is, the housing 40 unitizes each of the above-mentioned members. Such a configuration contributes to the miniaturization of the pin displacement module 4, the improvement of productivity, and the improvement of the reliability of the system.
[0043]
　Specifically, the housing 40 has a box-shaped first housing element 400 and a box-shaped second housing element 401.
[0044]
　The first housing element 400 accommodates a cylinder connecting mechanism 45, which will be described later, in an internal space. A rod member 31 is inserted through the first housing element 400 in the X direction. The end portion of the cylinder member 32 is fixed to the side wall of the first housing element 400 in the X direction + side (left side in FIG. 4 and right side in FIG. 7). The side walls on both sides of the first housing element 400 in the Y direction have through holes 400a and 400b (see FIGS. 3B and 7), respectively.
[0045]
　A pair of cylinder connecting pins 454a and 454b of the cylinder connecting mechanism 45 are inserted into such through holes 400a and 400b, respectively.
[0046]
　The second housing element 401 is provided on the Z direction + side of the first housing element 400. The second housing element 401 accommodates a boom connecting mechanism 46, which will be described later, in the internal space. A transmission shaft 432 (see FIG. 8) of the transmission mechanism 43, which will be described later, is inserted into the second housing element 401 in the X direction.
[0047]
　The side walls on both sides of the second housing element 401 in the Y direction have through holes 401a and 401b (see FIGS. 3B and 7), respectively. A pair of second rack bars 461a and 461b of the boom connecting mechanism 46 are inserted into the through holes 401a and 401b, respectively.
[0048]
　[About the electric motor] The
　electric motor 41 is supported by the housing 40 via the speed reducer 431 of the transmission mechanism 43. Specifically, the electric motor 41 is in a state where the output shaft (not shown) is parallel to the X direction (also referred to as the longitudinal direction of the cylinder member 32), and is around the cylinder member 32 (for example, the Z direction + side). It is arranged around the second housing element 401 (for example, the X direction-side). Such an arrangement can reduce the size of the pin displacement module 4 in the Y direction and the Z direction.
[0049]
　The electric motor 41 as described above is connected to, for example, a power source (not shown) provided on the swivel base 12 via a power supply cable. Further, the electric motor 41 is connected to, for example, a control unit (not shown) provided on the swivel base 12 via a cable for transmitting a control signal.
[0050]
　Each of the above cables can be unwound and wound by a cord reel provided outside the base end of the telescopic boom 14 or on the swivel base 12 (see FIG. 1).
[0051]
　In the mobile crane having a conventional structure, a proximity sensor (not shown) for detecting the positions of the cylinder connecting pins 454a and 454b and the boom connecting pins 144a and 144b, and a power supply cable and a signal transmission cable for each of these proximity sensors are used. Have.
[0052]
　Therefore, it is not necessary to provide new members (for example, cables, cord reels, etc.) for supplying power to the electric motor 41 and transmitting signals. In the case of this embodiment, the positions of the cylinder connecting pins 454a and 454b and the boom connecting pins 144a and 144b are detected by the position information detecting device described later. Therefore, in the present embodiment, the proximity sensor is unnecessary.
[0053]
　Further, the electric motor 41 includes a manual operation unit 410 (see FIG. 3B) that can be operated by a manual handle (not shown). The manual operation unit 410 is for manually performing the state transition of the pin displacement module 4. When the manual operation unit 410 is rotated by the manual handle in the event of a failure or the like, the output shaft of the electric motor 41 rotates and the state of the pin displacement module 4 changes. In the case of the present embodiment, the electric drive source is composed of a single electric motor. However, the electric drive source may be composed of a plurality of (for example, two) electric motors.
[0054]
　[Brake mechanism] The
　brake mechanism 42 applies a braking force to the electric motor 41. Such a brake mechanism 42 prevents the rotation of the output shaft of the electric motor 41 in a state where the electric motor 41 is stopped. As a result, the state of the pin displacement module 4 is maintained when the electric motor 41 is stopped. Further, the brake mechanism 42 allows the electric motor 41 to rotate (that is, slip) when an external force of a predetermined magnitude acts on the cylinder connecting mechanism 45 or the boom connecting mechanism 46 during braking. Such a configuration is effective in preventing damage to the electric motor 41 and each gear constituting the actuator 2. When such a configuration is adopted, for example, a friction brake can be adopted as the brake mechanism 42. The predetermined magnitude of the external force is appropriately determined according to the usage situation and the configuration of the actuator 2.
[0055]
　Specifically, the brake mechanism 42 operates in a reduced state of the cylinder connecting mechanism 45 or a reduced state of the boom connecting mechanism 46, which will be described later, to maintain the states of the cylinder connecting mechanism 45 and the boom connecting mechanism 46.
[0056]
　The brake mechanism 42 is arranged in front of the transmission mechanism 43 described later. Specifically, the brake mechanism 42 is arranged coaxially with the output shaft of the electric motor 41 on the X-direction-side of the electric motor 41 (that is, on the side opposite to the transmission mechanism 43 centering on the electric motor 41). See FIG. 3B). Such an arrangement can reduce the size of the pin displacement module 4 in the Y direction and the Z direction. The front stage means the upstream side (the side closer to the electric motor 41) in the transmission path in which the power of the electric motor 41 is transmitted to the cylinder connecting mechanism 45 or the boom connecting mechanism 46. On the other hand, the latter stage means the downstream side (the side far from the electric motor 41) in the transmission path in which the power of the electric motor 41 is transmitted to the cylinder connecting mechanism 45 or the boom connecting mechanism 46.
[0057]
　Further, if the brake mechanism 42 is arranged in front of the transmission mechanism 43 (reducer 431 described later), the required brake torque is smaller than in the case where the brake mechanism 42 is arranged in the rear stage of the transmission mechanism 43. As a result, the brake mechanism 42 can be downsized.
[0058]
　The brake mechanism 42 may be various brake devices such as a mechanical type and an electromagnetic type. Further, the position of the brake mechanism 42 is not limited to the position of the present embodiment.
[0059]
　[About the transmission mechanism] The
　transmission mechanism 43 transmits the power (that is, rotational motion) of the electric motor 41 to the cylinder connecting mechanism 45 and the boom connecting mechanism 46. The transmission mechanism 43 has a speed reducer 431 and a transmission shaft 432 (see FIG. 8).
[0060]
　The speed reducer 431 decelerates the rotation of the electric motor 41 and transmits it to the transmission shaft 432. The speed reducer 431 is, for example, a planetary gear mechanism housed in the speed reducer case 431a, and is provided coaxially with the output shaft of the electric motor 41. Such an arrangement can reduce the size of the pin displacement module 4 in the Y direction and the Z direction.
[0061]
　The end of the transmission shaft 432 on the − side in the X direction is connected to the output shaft (not shown) of the speed reducer 431. In this state, the transmission shaft 432 rotates together with the output shaft of the speed reducer 431. The transmission shaft 432 inserts the housing 40 (specifically, the second housing element 401) in the X direction. The transmission shaft 432 may be integrated with the output shaft of the speed reducer 431.
[0062]
　The end of the transmission shaft 432 on the X direction + side protrudes from the housing 40 on the X direction + side. A position information detection device 44, which will be described later, is provided at the end of the transmission shaft 432 on the + side in the X direction.
[0063]
　[About the position information detection device] The
　position information detection device 44 has a pair of cylinder connecting pins 454a and 454b and a pair of boom connecting pins 144a (a pair of boom connecting pins 144a) based on the output of the electric motor 41 (for example, rotational displacement of the output shaft). The boom connecting pin 144b may be used. The same shall apply hereinafter) to detect information regarding the position. Information on the position includes, for example, the amount of displacement of the pair of cylinder connecting pins 454a, 454b or the pair of boom connecting pins 144a from the reference position.
[0064]
　Specifically, the position information detection device 44 engages a pair of cylinder connecting pins 454a and 454b with a pair of cylinder pin receiving portions 141a of a boom element (for example, a tip boom element 141) (for example, FIG. 2A). Information about the positions of the pair of cylinder connecting pins 454a and 454b in the state shown in (1) or the detached state (the state shown in FIG. 2E) is detected.
[0065]
　Further, the position information detection device 44 includes a pair of boom connecting pins 144a and a pair of first boom pin receiving portions 142b (may be a pair of second boom pin receiving portions 142c) of the boom element (for example, the intermediate boom element 142). Detects information about the position of the pair of boom connecting pins 144a in the engaged state (eg, the state shown in FIGS. 2A, 2D) or the disengaged state (eg, the state shown in FIG. 2B).
[0066]
　The information regarding the positions of the pair of cylinder connecting pins 454a and 454b and the pair of boom connecting pins 144a and 144b detected in this way is used for various controls of the actuator 2 including, for example, operation control of the electric motor 41.
[0067]
　Such a position information detection device 44 includes a detection unit 44a and a control unit 44b (see FIGS. 17A and 18A).
[0068]
　The detection unit 44a is, for example, a rotary encoder and outputs information (for example, a pulse signal or a code signal) according to the rotational displacement of the output shaft of the electric motor 41. The output method of the rotary encoder is not particularly limited, and may be an incremental method that outputs a pulse signal (relative angle signal) according to the amount of rotational displacement (rotation angle) from the measurement start position, or an absolute method with respect to the reference point. An absolute method that outputs a code signal (absolute angle signal) corresponding to the angle position may be used.
[0069]
　If the detection unit 44a is an absolute rotary encoder, the position information detection device 44 can connect the pair of cylinder connecting pins 454a and 454b and the pair of booms even when the control unit 44b returns from the non-energized state to the energized state. Information about the position of pin 144a can be detected.
[0070]
　The detection unit 44a is provided on the output shaft of the electric motor 41 or a rotating member (for example, a rotating shaft, a gear, etc.) that rotates together with the output shaft. Specifically, in the case of the present embodiment, the detection unit 44a is provided at the end of the transmission shaft 432 (also referred to as a rotating member) on the + side in the X direction. In other words, in the case of the present embodiment, the detection unit 44a is provided after the speed reducer 431 (that is, on the + side in the X direction).
[0071]
　In the case of this embodiment, the detection unit 44a outputs information according to the rotational displacement of the transmission shaft 432. The rotation speed (rotation speed) of the transmission shaft 432 is the rotation speed (rotation speed) of the electric motor 41 decelerated by the speed reducer 431. In the case of the present embodiment, as the detection unit 44a, a rotary encoder capable of obtaining sufficient resolution with respect to the rotation speed (rotation speed) of the transmission shaft 432 is adopted. Since the first missing tooth gear 450 of the cylinder connecting mechanism 45 and the second missing tooth gear 460 of the boom connecting mechanism 46 are fixed to the transmission shaft 432, the information output by the detection unit 44a can be obtained. It is also information according to the rotational displacement of the first missing tooth gear 450 and the second missing tooth gear 460.
[0072]
　The detection unit 44a having the above configuration sends information according to the rotational displacement of the output shaft of the electric motor 41 to the control unit 44b. Upon receiving the information, the control unit 44b calculates information regarding the positions of the pair of cylinder connecting pins 454a and 454b or the pair of boom connecting pins 144a based on the received information. Then, the control unit 44b controls the electric motor 41 based on the calculation result.
[0073]
　The control unit 44b is, for example, an in-vehicle computer composed of an input terminal, an output terminal, a CPU, a memory, and the like. The control unit 44b calculates information regarding the positions of the pair of cylinder connecting pins 454a and 454b or the boom connecting pin 144a based on the output of the detecting unit 44a.
[0074]
　Specifically, for example, the control unit 44b receives information on the output of the detection unit 44a and the positions of the pair of cylinder connecting pins 454a and 454b and the pair of boom connecting pins 144a (for example, the amount of displacement from the reference position). Information on the above positions is calculated using data showing the correlation (table, map, etc.).
[0075]
　When the output of the detection unit 44a is a code signal, data showing the correlation between each code signal and the amount of displacement of the pair of cylinder connecting pins 454a and 454b and the pair of boom connecting pins 144a from the reference position (table). , Map, etc.) to calculate the information about the above position.
[0076]
　The control unit 44b as described above is provided on the swivel base 12. However, the position where the control unit 44b is provided is not limited to the swivel base 12. The control unit 44b may be provided, for example, in a case (not shown) in which the detection unit 44a is arranged.
[0077]
　The position of the detection unit 44a is not limited to the position of the present embodiment. For example, the detection unit 44a may be arranged in front of the speed reducer 431 (that is, on the X-direction-side). That is, the detection unit 44a may acquire information to be transmitted to the control unit 44b based on the rotation of the electric motor 41 before being decelerated by the speed reducer 431. The configuration in which the detection unit 44a is arranged in the front stage of the speed reducer 431 has higher resolution than the configuration in which the detection unit 44a is arranged in the rear stage of the speed reducer 431. In this case, the detection unit 44a may be arranged on the + side in the X direction or the − side in the X direction with respect to the brake mechanism 42.
[0078]
　Further, the detection unit 44a is not limited to the rotary encoder described above. For example, the detection unit 44a may be a limit switch. The limit switch is arranged after the speed reducer 431. Such a limit switch is mechanically operated based on the output of the electric motor 41. Alternatively, the detection unit 44a may be a proximity sensor. The proximity sensor is arranged after the speed reducer 431. Further, the proximity sensor is arranged so as to face the member that rotates based on the output of the electric motor 41. Such a proximity sensor outputs a signal based on the distance to the rotating member. Then, the control unit 44b controls the operation of the electric motor 41 based on the output of the limit switch or the proximity sensor.
[0079]
　[Cylinder connection mechanism] The
　cylinder connection mechanism 45 operates based on the power (that is, rotational movement) of the electric motor 41, and is in an expanded state (also referred to as a first state, see FIGS. 8 and 12) and a reduced state (see FIGS. 8 and 12). It is also referred to as a second state (see FIG. 13).
[0080]
　In the expanded state, the pair of cylinder connecting pins 454a and 454b, which will be described later, and the pair of cylinder pin receiving portions 141a of the boom element (for example, the tip boom element 141) are engaged (also referred to as a cylinder pin inserted state). Will be. In the engaged state, the boom element and the cylinder member 32 are connected.
[0081]
　On the other hand, in the reduced state, the pair of cylinder connecting pins 454a and 454b and the pair of cylinder pin receiving portions 141a (see FIG. 2) are separated from each other (the state shown in FIG. 2E, which is also referred to as the cylinder pin withdrawal state. ). In the detached state, the boom element and the cylinder member 32 are disconnected.
[0082]
　Hereinafter, a specific configuration of the cylinder connecting mechanism 45 will be described. The cylinder connecting mechanism 45 includes a first missing tooth gear 450, a first rack bar 451, a first gear mechanism 452, a second gear mechanism 453, a pair of cylinder connecting pins 454a and 454b, and a first urging mechanism 455. In the case of this embodiment, a pair of cylinder connecting pins 454a and 454b are incorporated in the cylinder connecting mechanism 45. However, the pair of cylinder connecting pins 454a and 454b may be provided independently of the cylinder connecting mechanism 45.
[0083]
　[About the first missing tooth gear]
　The first missing tooth gear 450 (also referred to as a switch gear) has a substantially annular plate shape and has a first tooth portion 450a (see FIG. 9) on a part of the outer peripheral surface. .. The first missing tooth gear 450 is fitted and fixed to the transmission shaft 432 and rotates together with the transmission shaft 432.
[0084]
　Such a first missing tooth gear 450 constitutes a switch gear together with a second missing tooth gear 460 (see FIG. 8) of the boom connecting mechanism 46. The switch gear selectively transmits the power of the electric motor 41 to one of the cylinder connecting mechanism 45 and the boom connecting mechanism 46.
[0085]
　In the case of the present embodiment, the first missing tooth gear 450 and the second missing tooth gear 460, which are switch gears, are connected to the cylinder connecting mechanism 45, which is the first connecting mechanism, and the boom connecting mechanism 46, which is the second connecting mechanism, respectively. It has been incorporated. However, the switch gear may be provided independently of the first connecting mechanism and the second connecting mechanism.
[0086]
　In the following description, the rotation direction of the first missing gear 450 (arrow in FIG. 17A) when the cylinder connecting mechanism 45 transitions from the expanded state (see FIGS. 8 and 12) to the reduced state (see FIG. 13). The direction indicated by F1) is the "front side" in the rotation direction of the first missing tooth gear 450.
[0087]
　On the other hand, the rotation direction of the first missing tooth gear 450 when the state transitions from the reduced state to the expanded state is the "rear side" in the rotation direction of the first missing tooth gear 450.
[0088]
　Among the convex portions constituting the first tooth portion 450a, the convex portion provided on the frontmost side in the rotation direction of the first missing tooth gear 450 is a positioning tooth (not shown).
[0089]
　[About the first rack bar]
　The first rack bar 451 is displaced in its own longitudinal direction (also referred to as the Y direction) in accordance with the rotation of the first missing tooth gear 450. The first rack bar 451 is located on the most Y-direction-side in the expanded state (see FIGS. 8 and 12). On the other hand, the first rack bar 451 is located on the + side in the Y direction most in the reduced state (see FIG. 13).
[0090]
　When the first missing tooth gear 450 rotates to the front side in the rotation direction during the state transition from the expanded state to the contracted state, the first rack bar 451 is displaced in the Y direction + side (also referred to as one in the longitudinal direction).
[0091]
　On the other hand, when the first missing tooth gear 450 rotates to the rear side in the rotation direction when the state transitions from the reduced state to the expanded state, the first rack bar 451 is also referred to as the Y direction − side (also referred to as the other in the longitudinal direction). ). Hereinafter, a specific configuration of the first rack bar 451 will be described.
[0092]
　The first rack bar 451 is, for example, a shaft member long in the Y direction, and is arranged between the first missing tooth gear 450 and the rod member 31. In this state, the longitudinal direction of the first rack bar 451 coincides with the Y direction.
[0093]
　The first rack bar 451 has a first rack tooth portion 451a (see FIG. 8) on a surface close to the first missing tooth gear 450 (also referred to as a + side in the Z direction). The first rack tooth portion 451a meshes with the first tooth portion 450a of the first missing tooth gear 450 only at the time of the above-mentioned state transition.
[0094]
　In the expanded state shown in FIGS. 8 and 10, the first end surface (not shown) on the Y direction + side of the first rack tooth portion 451a is a positioning tooth (not shown) in the first tooth portion 450a of the first missing tooth gear 450. ), Or opposes in the Y direction through a slight gap.
[0095]
　When the first missing tooth gear 450 rotates forward in the rotation direction in the expanded state, the positioning tooth 450b presses the first end surface in the Y direction + side, and the first rack bar 451 is displaced in the Y direction + side.
[0096]
　Then, the tooth portion existing on the rear side of the positioning tooth in the rotation direction of the first tooth portion 450a meshes with the first rack tooth portion 451a. As a result, the first rack bar 451 is displaced in the Y direction + side according to the rotation of the first missing tooth gear 450.
[0097]
　When the first missing tooth gear 450 rotates to the rear side in the rotation direction from the expanded state shown in FIG. 8, the first rack tooth portion 451a and the first tooth portion 450a of the first missing tooth gear 450 are different from each other. Does not mesh.
[0098]
　Further, the first rack bar 451 has a second rack tooth portion 451b and a third rack tooth portion 451c (see FIG. 8) on a surface far from the first missing tooth gear 450 (also referred to as a Z direction − side). Have. The second rack tooth portion 451b meshes with the first gear mechanism 452, which will be described later. On the other hand, the third rack tooth portion 451c meshes with the second gear mechanism 453, which will be described later.
[0099]
　[About the first gear mechanism]
　The first gear mechanism 452 is composed of a plurality of (three in the case of the present embodiment) gear elements 452a, 452b, and 452c (see FIG. 8), each of which is a spur gear. Specifically, the gear element 452a, which is an input gear, meshes with the second rack tooth portion 451b and the gear element 452b of the first rack bar 451. In the expanded state (see FIGS. 8 and 12), the gear element 452a meshes with the tooth portion on the Y-direction + side end or the portion near the end of the second rack tooth portion 451b of the first rack bar 451.
[0100]
　The gear element 452b, which is an intermediate gear, meshes with the gear element 452a and the gear element 452c.

The scope of the claims
[Claim 1]
　The telescopic boom having an inner boom element and an outer boom element that are stretchably overlapped,
　a telescopic actuator that displaces one of the inner boom element and the outer boom element in the telescopic direction, and the
　telescopic actuator. A
　first connection mechanism that operates based on the power of at least one electric drive source provided and the electric drive source, and switches between a connected state and a non-connected state of the telescopic actuator and the one boom element. A 　crane
　comprising a second connecting mechanism that operates based on the power of the electric drive source and switches between a connected state and a non-connected state of the inner boom element and the outer boom
.
[Claim 2]
　A first connecting member for releasably connecting the boom elements of one the said telescopic actuator,
　further comprising a second connecting member for releasably connecting the outer boom element and the inner boom element, a
　said the first connecting mechanism, by displacing the first coupling member on the basis of the power of the electric driving source, switching between non-connected state and a connection state between the boom elements of said one and said telescopic actuator,
　wherein The second coupling mechanism claims that the second connecting member is displaced based on the power of the electric drive source to switch between a connected state and a non-connected state of the inner boom element and the outer boom element. The crane according to 1.
[Claim 3]
　The crane according to claim 1 or 2, wherein the electric drive source is a single electric drive source.
[Claim 4]
　A speed reducer that decelerates the power of the electric drive source and transmits it to the first connection mechanism and the second connection mechanism, and the first connection mechanism and the second connection mechanism in
　a stopped state of the electric drive source. The
　electric drive source, the speed reducer, and the brake mechanism are provided coaxially with the output shaft of the electric drive source, further comprising a brake mechanism for holding the state of the above. The crane according to any one of 1 to 3.
[Claim 5]
　A claim that the brake mechanism allows rotation of an electric drive source based on the external force when an external force of a predetermined magnitude or more acts on the first connecting mechanism or the second connecting mechanism during braking. The crane according to 4.
[Claim 6]
　The crane according to claim 4 or 5, wherein the brake mechanism is arranged closer to the electric drive source side than the speed reducer.
[Claim 7]
　The crane according to any one of claims 1 to 6, wherein the output shaft of the electric drive source is parallel to the expansion / contraction direction.
[Claim 8]

　Any of claims 1 to 7, 　further comprising a housing for accommodating the first coupling mechanism and the second coupling mechanism, wherein the electrical drive source, the speed reducer, and the brake mechanism are fixed to the housing. The crane described in item 1.
[Claim 9]
　Claims 1 to 8 further include a switch gear that selectively transmits the power of the electric drive source to one of the first coupling mechanism and the second coupling mechanism. The crane according to any one item.
[Claim 10]
　The switch gear prevents the operation of the other coupling mechanism of the first coupling mechanism and the second coupling mechanism in a state where the power of the electric drive source is transmitted to the one coupling mechanism. The crane according to claim 9, further comprising a locking mechanism.
[Claim 11]
　The crane according to claim 10, wherein the lock mechanism has a lock-side rotating member provided coaxially with the switch gear.
[Claim 12]
　The first coupling mechanism causes the first coupling mechanism to make a state transition so that the telescopic actuator and one of the boom elements are in a connected state when the electric drive source is stopped. The crane according to any one of claims 1 to 11, further comprising a mechanism.
[Claim 13]
　The second coupling mechanism includes a second urging mechanism that transitions the state of the second coupling mechanism so that the pair of boom elements are connected to each other when the electrical drive source is stopped. Item 12. The crane according to any one of Items 1 to 12.