Invention name: Working machine
Technical field
[0001]
　The present invention relates to a working machine provided with a telescopic boom.
Background technology
[0002]
　Conventionally, a mobile crane having a telescopic boom in which a plurality of boom elements are arranged in a nested manner (also referred to as a telescopic shape) is known (see, for example, Patent Document 1). The telescopic boom is configured to be telescopic one step at a time by, for example, a telescopic actuator arranged inside the innermost boom element.
[0003]
　Specifically, in the telescopic boom, boom elements adjacent to each other inside and outside are connected by a boom connecting pin (hereinafter, referred to as "B pin"). When the connection by the B pin is released, the inner boom element can move in the expansion / contraction direction with respect to the outer boom element. The movable boom element is connected to the movable part of the telescopic actuator by a cylinder connecting pin (hereinafter referred to as "C pin"). The expansion / contraction actuator is composed of, for example, a hydraulic cylinder having a piston rod portion and a cylinder portion, and the cylinder portion functions as a movable portion to expand and contract the boom element.
[0004]
　Further, the insertion / removal operation of the B pin and the C pin is exclusively controlled by the pin insertion / removal actuator provided in the movable part of the telescopic actuator, and the connection state between the boom elements by the B pin and the cylinder boom by the C pin. The connection state between them is not released at the same time (so-called interlock).
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, conventionally, a hydraulic actuator is used as an actuator for inserting and removing a pin, and a pipe and a hydraulic circuit for supplying hydraulic oil to the actuator are provided around the telescopic boom. Therefore, the design around the telescopic boom is spatially limited, which may be a limitation in reducing the size and weight of the telescopic boom.
　In addition, since the viscosity of the hydraulic oil changes depending on the environmental temperature and the like, the operating time is unstable, and the influence is particularly large in a low temperature environment, which causes a malfunction.
[0007]
　An object of the present invention is to provide a working machine capable of improving the degree of freedom in design around the telescopic boom and the reliability at the time of boom expansion and contraction.
Means to solve problems
[0008]
　The working machine according to the present invention includes
　a telescopic boom having a first boom and a second boom that
　can be expanded and contracted, an expansion and contraction actuator that moves the first boom in the expansion and contraction direction with respect to the second boom, and the expansion and contraction actuator
　. The electric drive source provided in the movable part of the
　actuator, the first fixing pin connecting the telescopic actuator and the first boom, and
　the first fixing pin being urged to urge the telescopic actuator and the first boom. The first urging mechanism that maintains the connected state with the boom and
　the first fixing pin that operates based on the power of the electric drive source, thereby the telescopic actuator and the first boom. A first connecting mechanism that switches between a connected state and a non-connected state,
　a second fixing pin that connects the first boom and the second boom, and
　the second fixing pin are urged to urge the first boom and the first boom. The first boom and the second boom are formed
　by inserting and removing the second fixing pin, which operates based on the power of the electric drive source and the second urging mechanism that maintains the connected state with the two booms. The control device includes a second connection mechanism for switching between a connected state and a non-connected state, and
　a control device for controlling the operation of the electric drive source. In the control device
　, the first fixing pin is the first urging mechanism. When the second fixing pin is restored by the urging force of the second urging mechanism and / or when the second fixing pin is restored by the urging force of the second urging mechanism, the motor assist process for operating the electric drive source is executed.
The invention's effect
[0009]
　According to the present invention, it is possible to improve the degree of freedom in design around the telescopic boom and the reliability when the boom expands and contracts.
A brief description of the drawing
[0010]
FIG. 1 is a diagram showing a traveling state of a mobile crane according to an embodiment of the present invention.
FIG. 2 is a diagram showing a working state of a mobile crane.
3A to 3C are schematic views for explaining the structure and extension operation of the expansion / contraction boom.
4A to 4C are schematic views for explaining the structure and extension operation of the expansion / contraction boom.
FIG. 5 is an overall perspective view of the telescopic device.
FIG. 6 is a perspective view of an actuator for inserting and removing a pin.
FIG. 7 is a plan view of the pin insertion / removal actuator as viewed from the + side in the Z direction.
FIG. 8 is a side view of the pin insertion / removal actuator as viewed from the + side in the Y direction.
FIG. 9 is a perspective view showing a state in which the pin insertion / removal actuator and the B pin holding portion are engaged with each other.
FIG. 10 is a front view of the state in which the pin insertion / removal actuator and the B pin holding portion are engaged with each other as viewed from the X direction − side.
FIG. 11 is a diagram showing an internal structure of an actuator for inserting and removing a pin.
FIG. 12 is a diagram showing an internal structure of an actuator for inserting and removing a pin.
FIG. 13 is a diagram showing an internal structure of an actuator for inserting and removing a pin.
FIG. 14 is a diagram schematically showing a configuration of an actuator for inserting and removing a pin.
15A and 15B are views showing a cylinder connecting module withdrawn state and a boom connecting module withdrawn state.
16A to 16C are schematic views for explaining the operation and operation of the locking mechanism.
[Fig. 17] FIGS. 17A to 17C are schematic views for explaining the operation of the cylinder connecting module.
18A-18C are schematic views for explaining the operation of the boom coupling module.
FIG. 19 is a timing chart showing an example of control during an extension operation of the expansion / contraction boom.
FIG. 20 is a timing chart showing an example of control during an extension operation of a telescopic boom to which a motor assist process is applied.
Embodiment for carrying out the invention
[0011]
　Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
　In the present embodiment, the mobile crane 1 which is an example of the working machine according to the present invention will be described.
[0012]

　FIG. 1 is a diagram showing a traveling state of the mobile crane 1 according to the embodiment of the present invention. FIG. 2 is a diagram showing a working state of the mobile crane 1. The mobile crane 1 shown in FIGS. 1 and 2 is a so-called rough terrain crane including an upper swing body 10 and a lower traveling body 20.
[0013]
　The upper swivel body 10 includes a swivel frame 11, a cabin 12 (driver's cab), an undulating cylinder 13, a jib 14, a hook 15, a bracket 16, a telescopic boom 30, a counterweight CW, a hoisting device (winch, not shown) and the like. Be prepared.
[0014]
　The swivel frame 11 is rotatably supported by the lower traveling body 20 via a swivel support (not shown). A cabin 12, an undulating cylinder 13, a bracket 16, a telescopic boom 30, a counterweight CW, a hoisting device (not shown), and the like are attached to the swivel frame 11.
　The cabin 12 is arranged, for example, at the front of the swivel frame 11. In the cabin 12, in addition to a seat on which the operator sits and various instruments, an operation unit, a display unit, a voice output unit, and the like used for crane work and traveling operation are arranged.
　The undulating cylinder 13 is erected between the swivel frame 11 and the telescopic boom 30. The expansion and contraction of the undulation cylinder 13 causes the expansion and contraction boom 30 to undulate within a predetermined undulation angle range (for example, 0 ° to 84 °).
　The jib 14 is rotatably attached to the tip (boom head) of the telescopic boom 30 when the lift is expanded. The jib 14 projects forward of the telescopic boom 30 by rotating forward.
　The hook 15 is a hook having a hook shape, and has a main winding hook and an auxiliary winding hook. The hook 15 is attached to a wire rope 19 hung around a sheave at the tip of the telescopic boom 30 or the tip of the jib 14. The hook 15 moves up and down as the wire rope 19 is wound or unwound by the hoisting device (not shown).
　The counterweight CW is attached to the rear part of the swivel frame 11. The counterweight CW has a plurality of unit weights and can be set to have different weights depending on the combination of the unit weights.
[0015]
　The telescopic boom 30 is rotatably attached to the bracket 16 via a support shaft (foot pin, reference numeral omitted). The telescopic boom 30 has a plurality of boom elements including a tip boom 31, an intermediate boom 32, and a base boom 33, and these boom elements are arranged in a nested manner (so-called telescopic structure). Of the plurality of boom elements, the tip boom 31 and the intermediate boom 32 slide in the expansion / contraction direction with respect to the proximal boom 33 due to the expansion / contraction of the expansion / contraction actuator 40 (see FIG. 5) arranged inside. It expands and contracts. On the other hand, the base end boom 33 is immovable in the expansion / contraction direction. The telescopic boom 30 expands in order from the boom element (that is, the tip boom 31) arranged inside, so that the state transitions from the contracted state shown in FIG. 1 to the extended state shown in FIG.
[0016]
　Further, a boom head (reference numeral omitted) having a sheave (reference numeral omitted) is arranged at the tip portion of the tip boom 31. In addition, a work attachment such as a bucket may be attached to the boom head. In the telescopic boom 30, the number of stages of the intermediate boom 32 is not particularly limited.
[0017]
　The lower traveling body 20 includes a vehicle body frame 21, wheels 22, 23, outriggers OR1, OR2, an engine (not shown), and the like.
[0018]
　The driving force of the engine is transmitted to the wheels 22 and 23 via a transmission (not shown). The mobile crane 1 travels by rotating the wheels 22 and 23 by the driving force of the engine. Further, the steering angles (traveling directions) of the wheels 22 and 23 change with the operation of the steering wheel (not shown) provided in the cabin 12.
[0019]
　The outriggers OR1 and OR2 are housed in the vehicle body frame 21 during traveling. On the other hand, the outriggers OR1 and OR2 project in the horizontal and vertical directions during work (when the upper swing body 10 operates), lift and support the entire vehicle body, and stabilize the posture.
[0020]
　As described above, the mobile crane 1 is a self-propelled crane using the wheels 22 and 23 for the traveling portion of the lower traveling body 20, and the traveling operation and the crane operation can be performed from one cab.
　In addition to the rough terrain crane, 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).
[0021]

　FIGS. 3A to 3C and FIGS. 4A to 4C are schematic views for explaining the structure and expansion operation of the expansion / contraction boom 30. 3A to 3C and FIGS. 4A to 4C are vertical cross sections along the width direction of the telescopic boom 30, in which the right side in the figure is the base end side of the telescopic boom 30 and the left side in the figure is the tip end side of the telescopic boom 30. .. Here, in order to simplify the explanation, an expansion / contraction boom 30 in which the intermediate boom 32 is a one-stage organization will be described as an example.
[0022]
　As shown in FIGS. 3A to 3C and FIGS. 4A to 4C, the telescopic boom 30 has substantially the same configuration as the conventionally known telescopic boom. The telescopic boom 30 has a structure symmetrical in the width direction with respect to the telescopic axis, for example. An expansion / contraction device A for expanding / contracting the expansion / contraction boom 30 is arranged inside the expansion / contraction boom 30.
[0023]
　In the telescopic boom 30, the tip boom 31 and the intermediate boom 32 are connected by a boom connecting pin (hereinafter referred to as “B pin”) 315 provided on the tip boom 31, and the intermediate boom 32 and the base boom 33 are intermediate. It is connected by a B pin 325 provided on the boom 32. Further, the tip boom 31, the intermediate boom 32, and the base boom 33 are each connected to the expansion / contraction actuator 40 by a cylinder connecting pin (hereinafter, referred to as “C pin”) 150. The tip boom 31 or the intermediate boom 32 connected to the expansion / contraction actuator 40 by the C pin 150 is the boom element to be expanded / contracted.
[0024]
　The tip boom 31 has a tubular shape and has an internal space that can accommodate the expansion / contraction device A. The tip boom 31 has a C pin receiving portion 311, a B pin holding portion 314, and a B pin 315 at the base end portion.
[0025]
　Each of the pair of C-pin receiving portions 311 is configured to be detachable from the C-pin 150 (first fixing pin) provided in the pin insertion / removal actuator 50. The C-pin receiving portion 311 is arranged coaxially with each other, for example.
　The B pin holding portion 314 is fixed to the frame of the tip boom 31 on the base end side of the C pin receiving portion 311 and holds the B pin 315 (second fixing pin) so as to be able to move forward and backward. The pair of B-pins 315 are arranged on the B-pin holding portion 314 so as to be coaxial, for example, and are urged in opposite directions toward the outer intermediate boom 32 by the urging force of the urging member. That is, the B pin 315 is normally inserted into the base end side B pin receiving portion 322 or the tip end side B pin receiving portion 323 of the intermediate boom 32 by the urging force of the urging member when the tip boom 31 is not expanded or contracted. It is maintained in this state.
[0026]
　The intermediate boom 32 has a tubular shape and has an internal space that can accommodate the tip boom 31. The intermediate boom 32 has a C pin receiving portion 321 at the base end portion, a base end side B pin receiving portion 322 and a B pin holding portion 324, and has a tip end side B pin receiving portion 323 at the tip end portion.
[0027]
　Each of the pair of C-pin receiving portions 321 is configured to be detachable from the C-pin 150 (first fixing pin). The C-pin receiving portion 321 is arranged coaxially with each other, for example.
　The pair of base end side B pin receiving portions 322 are provided on the base end side of the C pin receiving portion 321 and are arranged coaxially with each other. The pair of tip-side B-pin receiving portions 323 are provided at the tip portions of the intermediate boom 32 and are arranged coaxially with each other. The base end side B pin receiving portion 322 and the tip end side B pin receiving portion 323 are configured so that the B pin 315 of the tip boom 31 can be inserted and removed, respectively.
　The B pin holding portion 324 is fixed to the frame of the intermediate boom 32 on the proximal end side of the proximal end side B pin receiving portion 322, and holds the B pin 325 (second fixing pin) so as to be able to advance and retreat. The pair of B-pins 325 are arranged on the B-pin holding portion 324 so as to be coaxial, for example, and are urged in opposite directions toward the outer base end boom 33 by the urging force of the urging member. .. That is, in the normal time when the intermediate boom 32 is not expanded or contracted, the B pin 325 is attached to the proximal end side B pin receiving portion 332 or the distal end side B pin receiving portion 333 of the proximal end boom 33 by the urging force of the urging member. It is inserted and maintained in this state.
[0028]
　The base end boom 33 has a tubular shape and has an internal space that can accommodate the intermediate boom 32. The base end boom 33 has a base end side B pin receiving portion 332 at the base end portion and a tip end side B pin receiving portion 333 at the tip end portion.
[0029]
　The pair of base end side B pin receiving portions 332 are arranged coaxially with each other. The pair of tip side B pin receiving portions 333 are provided at the tip portion of the base end boom 33 and are arranged coaxially with each other. The base end side B pin receiving portion 332 and the tip end side B pin receiving portion 333 are configured so that the B pin 325 of the intermediate boom 32 can be inserted and removed, respectively.
[0030]
　The B pins 315 and 325 are displaced in their own axial direction based on the operation of the boom connecting module 200 included in the pin insertion / removal actuator 50.
　Specifically, the B pin 315 is inserted so as to be bridged over the base end side B pin receiving portion 322 or the tip end side B pin receiving portion 323 of the intermediate boom 32. As a result, the tip boom 31 and the intermediate boom 32 are connected and are in a connected state. On the other hand, when the B pin 315 is pulled out from the base end side B pin receiving portion 322 or the tip end side B pin receiving portion 323 of the intermediate boom 32, the connection between the tip boom 31 and the intermediate boom 32 is released and the intermediate boom 32 is not connected. It becomes a state.
　The B pin 325 is inserted so as to be bridged over the proximal end side B pin receiving portion 332 or the distal end side B pin receiving portion 333 of the proximal end boom 33. As a result, the intermediate boom 32 and the base end boom 33 are connected to each other and are in a connected state. On the other hand, when the B pin 325 is pulled out from the proximal end side B pin receiving portion 332 or the distal end side B pin receiving portion 333 of the proximal end boom 33, the connection between the intermediate boom 32 and the proximal end boom 33 is released. It becomes a non-connected state.
[0031]
　The tip boom 31 cannot move in the expansion / contraction direction with respect to the intermediate boom 32 in the connected state connected to the intermediate boom 32 by the B pin 315, and can move in the expansion / contraction direction with respect to the intermediate boom 32 in the non-connected state. Become. Similarly, the intermediate boom 32 becomes immovable with respect to the proximal boom 33 in the expansion / contraction direction in the connected state connected to the proximal boom 33 by the B pin 325, and with respect to the proximal boom 33 in the non-connected state. It becomes possible to move in the expansion and contraction direction.
[0032]
　The C pin 150 is displaced in its own axial direction based on the operation of the cylinder connecting module 100 included in the pin insertion / removal actuator 50.
　Specifically, the tip boom 31 and the intermediate boom 32 are in an engaged state in which the C pin 150 is engaged with the C pin receiving portions 311 and 321 or the C pin 150 is detached from the C pin receiving portions 311 and 321. It takes one of the disengaged states. The tip boom 31 and the intermediate boom 32 can move in the expansion / contraction direction together with the movable portion (cylinder portion 42 in the present embodiment) of the expansion / contraction actuator 40 in the engaged state. When the intermediate boom 32 moves, the tip boom 31 connected to the intermediate boom 32 via the B pin 315 also moves in the expansion / contraction direction.
[0033]
　The extension operation of the expansion / contraction boom 30 will be briefly described as follows.
　FIG. 3A shows the fully contracted state of the telescopic boom 30. In this state, the tip boom 31 is housed in the intermediate boom 32, is connected to the intermediate boom 32 via the B pin 315, and is immovable in the extension direction (see FIG. 3C). Further, the C pin 150 is engaged with the C pin receiving portion 311 of the tip boom 31, and the tip boom 31 and the cylinder portion 42 are in an engaged state.
　As shown in FIG. 3B, the B pin 315 is removed from the base end side B pin receiving portion 322 of the intermediate boom 32 (see the portion surrounded by the broken line in FIG. 3B), and the tip boom 31 and the intermediate boom 32 are not connected. In this state, the tip boom 31 can move in the extension direction.
　As shown in FIG. 3C, the tip boom 31 moves to the tip side as the expansion / contraction actuator 40 operates and the cylinder portion 42 moves in the extension direction.
[0034]
　As shown in FIG. 4A, after the tip boom 31 has moved to a predetermined position, the B pin 315 is inserted through the tip side B pin receiving portion 323 of the intermediate boom 32 (see the portion surrounded by the broken line in FIG. 4A). The boom 31 and the intermediate boom 32 are connected to each other, and the tip boom 31 becomes immovable in the extension direction.
　As shown in FIG. 4B, the engagement between the C pin receiving portion 311 of the tip boom 31 and the C pin 150 is disengaged (see the portion surrounded by the broken line in FIG. 4B), and the cylinder portion 42 is separated from the tip boom 31. Only can return to the contracted state.
　Then, as shown in FIG. 4C, the cylinder portion 42 returns to the contracted state, the C pin receiving portion 321 of the intermediate boom 32 and the C pin 150 are engaged, and the intermediate boom 32 and the cylinder portion 42 are engaged. It becomes a state.
　When the intermediate boom 32 is extended, the same operation as described above is performed. Further, when the tip boom 31 or the intermediate boom 32 is contracted, the operation in the opposite direction to the above is performed.
[0035]

　The expansion / contraction operation and contraction operation of the expansion / contraction boom 30 described above are performed by the expansion / contraction device A built in the expansion / contraction boom 30. The expansion / contraction device A is arranged in the internal space of the tip boom 31 in the fully contracted state (state shown in FIG. 3A) of the expansion / contraction boom 30. The detailed configuration of the expansion / contraction device A will be described below.
[0036]
　FIG. 5 is an external perspective view of the telescopic device A. Hereinafter, each component constituting the expansion / contraction device A will be described using an orthogonal coordinate system (X, Y, Z) with reference to the state incorporated in the expansion / contraction device A. Also in the figure described later, it is shown by a common Cartesian coordinate system (X, Y, Z). In the Cartesian coordinate system (X, Y, Z), the X direction coincides with the expansion / contraction direction of the expansion / contraction boom 30. The + side in the X direction is the tip end side of the telescopic boom 30, and the − side in the X direction is the base end side of the telescopic boom 30. The Z direction coincides with the vertical direction of the mobile crane 1, for example, in an inverted state where the undulation angle of the telescopic boom 30 is 0 °. The Y direction is orthogonal to the X direction and the Z direction, and coincides with, for example, the width direction of the telescopic boom 30.
[0037]
　As shown in FIG. 5, the expansion / contraction device A includes an expansion / contraction actuator 40 and a pin insertion / removal actuator 50. The pin insertion / removal actuator 50 is movably arranged together with the cylinder portion 42 on the base end side of the expansion / contraction actuator 40, for example.
[0038]
　The expansion / contraction actuator 40 is a hydraulic cylinder having a piston rod portion 41 (see FIG. 3A and the like) and a cylinder portion 42. The expansion / contraction actuator 40 moves the boom element (for example, the tip boom 31 or the intermediate boom 32) connected to the cylinder portion 42 via the C pin 150 (see FIG. 3A and the like) in the expansion / contraction direction. The cylinder portion 42 has, for example, a cylinder frame 43 with rails. The rail (not shown) of the cylinder frame 43 is engaged with the rail groove provided in the telescopic boom 30. As a result, the cylinder portion 42 can slide along the telescopic boom 30 in a stable posture in the telescopic direction. Since the main structure of the telescopic actuator 40 is almost the same as that of a known hydraulic cylinder, detailed description thereof will be omitted.
[0039]
　The configuration of the pin insertion / removal actuator 50 is shown in FIGS. 6 to 10. 6 to 8 are a perspective view of the pin insertion / removal actuator 50, a plan view seen from the Z direction + side, and a side view seen from the Y direction + side, respectively. 9 and 10, respectively, are a perspective view of a state in which the pin insertion / removal actuator 50 and the B pin holding portion 314 are engaged, and a front view seen from the X direction − side.
　In FIGS. 6 to 10, the pair of C pins 150 are shown separately as “C pins 150A, 150B”. Further, in FIGS. 9 and 10, the pair of B pins 315 are shown separately as "B pins 315A and 315B".
[0040]
　As shown in FIGS. 6 to 8, the pin insertion / removal actuator 50 is arranged on the X-direction-side (base end side) of the cylinder portion 42, and moves in the expansion / contraction direction together with the cylinder portion 42. The pin insertion / removal actuator 50 includes an electric motor 51 (electric drive source), a brake 52, a transmission mechanism 53, a position detection device 54, a lock mechanism 55 (see FIG. 11 and the like), a cylinder connection module 100 (first connection device), and a cylinder connection module 100 (first connection device). A boom connecting module 200 (second connecting device) is provided. The transmission mechanism 53 includes a clutch 61, a speed reducer 62, and a torque limiter 63 (see FIG. 14).
[0041]
　Each component is arranged and unitized within the housing 58. As a result, it is possible to reduce the size of the pin insertion / removal actuator 50, improve the productivity, and improve the reliability of the system. Specifically, the housing 58 has a box-shaped first housing 581 and a box-shaped second housing 582.
[0042]
　The first housing 581 accommodates the cylinder connecting module 100 in the internal space. The C pins 150A and 150B of the cylinder connecting module 100 are arranged so as to be able to advance and retreat from both ends of the first housing 581 in the Y direction, respectively. A piston rod portion 41 (see FIG. 3A and the like) of the telescopic actuator 40 is inserted into the first housing 581 in the X direction. The end portion of the cylinder portion 42 is fixed to the side wall on the + side in the X direction of the first housing 581.
[0043]
　The second housing 582 is provided on the + side in the Z direction of the first housing. The second housing 582 accommodates the boom connecting module 200 in the internal space. The B-pin rack bar 220A of the boom coupling module 200 is arranged so as to be able to advance and retreat from, for example, one end in the Y direction of the second housing 582, and the B-pin rack bar 220B is arranged so as to be able to advance and retreat from, for example, the other end. Further, the transmission shaft 56 (see FIG. 12) of the transmission mechanism 53 is inserted into the second housing 582 in the X direction.
[0044]
　The electric motor 51 is an electric drive source for operating the cylinder connecting module 100 and the boom connecting module 200. The electric motor 51 is composed of, for example, a rotary motor that outputs a rotary motion by using an electromagnetic force. As the rotary motor, various electromagnetic motors such as a brush motor (DC motor), a brushless DC motor, and a stepping motor can be applied. The operation of the electric motor 51 is controlled by the control device 70 (see FIG. 14).
[0045]
　The electric motor 51 is supported by the second housing 582 via the transmission mechanism 53. The output shaft (not shown) of the electric motor 51 extends in the X direction. The electric motor 51 is arranged so that, for example, a ring gear (not shown) arranged on the outer periphery of the piston rod portion 41 as a mechanical element of the transmission mechanism 53 and the output shaft of the electric motor 51 mesh with each other. By arranging the electric motor 51 in this way, it is possible to reduce the size of the pin insertion / removal actuator 50 in the Y direction and the Z direction.
[0046]
　The electric motor 51 can also be arranged in the cylinder frame 43 by applying a flat motor such as a large thin motor or a face-to-face motor. In this case, a compact configuration is possible, and the cylinder frame 43 functions as a protective cover, and the risk of damage due to interference during the boom expansion / contraction operation can be reduced. Further, by taking advantage of the large outer diameter of the motor and transmitting power directly from the output shaft of the motor to the ring gear having a large diameter, the reduction ratio can be reduced, and the C pin urging mechanism 160 or the B pin can be used. It is also possible to reduce the inertia during the entry operation by the urging mechanism 240 (see FIG. 11).
[0047]
　The electric motor 51 is connected to, for example, a power supply device (not shown) arranged on the upper swing body 10 (see FIG. 1) via a power supply cable. Further, the electric motor 51 is connected to, for example, a control device 70 arranged on the upper swing body 10 via a control signal transmission cable. These cables can be unwound and wound by a cord reel provided at the base end of the telescopic boom 30 or the upper swivel body 10 (see FIG. 1).
　Since the power supply cable and the control signal transmission cable have a small wiring space and can be routed freely, there is more freedom in designing around the telescopic boom 30 than when installing hydraulic actuator piping or hydraulic circuits. It will improve dramatically.
[0048]
　Further, the electric motor 51 has a manual operation unit 511 that can be operated by a manual handle (not shown). The manual operation unit 511 is for manually performing the state transition of the pin insertion / removal actuator 50 (specifically, the cylinder connection module 100 and the boom connection module 200). When the manual operation unit 511 is turned by the manual handle when the motor fails, the output shaft of the electric motor 51 rotates to change the state of the pin insertion / removal actuator 50, and the B pin 315, 325 and the C pin 150 are inserted / removed. can do.
[0049]
　In the present embodiment, the cylinder connecting module 100 and the boom connecting module 200 are operated by one electric motor 51. As the electric motor 51, a motor for the cylinder connection module 100 and a motor for the boom connection module 200 may be provided separately. For example, when the output shaft of the electric motor 51 is connected to the ring gear (not shown) of the transmission mechanism 53, the arrangement of the electric motor 51 is not particularly limited as long as it is the outer circumference of the ring gear. Can be easily arranged. Further, since the required torque can be obtained by increasing or decreasing the number of motors, one type of motor can be used, and it can be easily applied to the design of other models.
[0050]
　The brake 52 applies a braking force to the electric motor 51. The brake 52 is composed of, for example, an electromagnetic brake that brakes by using an electromagnetic force. The operation of the brake 52 is controlled by the control device 70.
[0051]
　The brake 52 regulates the rotation of the output shaft of the electric motor 51 when the electric motor 51 is stopped (non-energized state). The brake 52 operates, for example, in the unplugged state of the cylinder coupling module 100 or the unplugged state of the boom coupling module 200. As a result, the cylinder connecting module 100 and the boom connecting module 200 are maintained in the unplugged state when the electric motor 51 is stopped. Compared with the case where the unplugged state is maintained by the motor torque, power saving can be achieved, and heat generation of the electric motor 51 due to the locked state can be prevented.
[0052]
　Further, the brake 52 may allow the electric motor 51 to rotate (that is, slip) when an external force of a predetermined magnitude acts on the cylinder connecting module 100 or the boom connecting module 200 during braking. This makes it possible to prevent the mechanical elements of the pin insertion / removal actuator 50 (for example, the electric motor 51 and each gear) from being damaged by an overload.
[0053]
　The brake 52 is preferably arranged in front of the speed reducer 62 of the transmission mechanism 53. The front stage is the upstream side (X direction-side) in the power transmission path in which the power of the electric motor 51 is transmitted to the cylinder connection module 100 or the boom connection module 200, and includes the upstream side of the electric motor 51. On the other hand, the latter stage is the downstream side (X direction + side) in the power transmission path of the electric motor 51. In the present embodiment, the brake 52 is arranged coaxially with the electric motor 51 on the X-direction − side (that is, on the side opposite to the transmission mechanism 53 about the electric motor 51) with respect to the electric motor 51. By arranging the brake 52 in this way, it is possible to reduce the size of the pin insertion / removal actuator 50 in the Y direction and the Z direction. Further, when the brake 52 is arranged before the speed reducer 62, the brake torque required to maintain the stopped state of the electric motor 51 becomes smaller than when the brake 52 is arranged after the speed reducer 62. , The brake 52 can be miniaturized.
[0054]
　Various brake devices such as a mechanical type or an electromagnetic type can be applied to the brake 52. Further, the position of the brake 52 is not limited to the position of the present embodiment.
[0055]
　The transmission mechanism 53 transmits the power (that is, rotational motion) of the electric motor 51 to the cylinder connecting module 100 and the boom connecting module 200. The transmission mechanism 53 is arranged in the second housing 582. The transmission mechanism 53 includes a clutch 61, a speed reducer 62, a torque limiter 63, and the like (see FIG. 14). The transmission mechanism 53 has, for example, a ring gear (not shown) arranged on the outer periphery of the piston rod portion 41 and a transmission gear that meshes with the ring gear, and the clutch 61, the speed reducer 62, and the torque limiter 63 are used as transmission gears. It is arranged on the connected transmission shaft 56.
[0056]
　The clutch 61 is arranged in a power transmission path that transmits the power of the electric motor 51, and transmits the power to the cylinder connection module 100 and the boom connection module 200 at arbitrary intervals. The clutch 61 is arranged, for example, in the power transmission path in front of the speed reducer 62 (in the present embodiment, between the electric motor 51 and the speed reducer 62). By arranging the clutch 61 in this way, the transmission torque capacity of the clutch 61 can be reduced, and the size of the clutch 61 can be reduced.
[0057]
　For example, an electromagnetic clutch, a mechanical clutch, or a torque diode can be applied to the clutch 61. Since these configurations are known, they will be briefly described.
[0058]
　An electromagnetic clutch is a mechanical element that electromagnetically transmits / disconnects power transmission from an input shaft to an output shaft. When an electromagnetic clutch is applied, the operation of the clutch 61 is controlled by, for example, the control device 70. When the operation of the clutch 61 is interlocked with the electric motor 51, it is not necessary to control the clutch 61 individually.
[0059]
　A mechanical clutch is a mechanical element that transmits power by engaging an input shaft and an output shaft with each other. When a mechanical clutch is applied, the clutch 61 is preferably a one-way clutch that transmits power from the input shaft to the output shaft, while blocking power from the output shaft to the input shaft and transmitting power in only one direction. ..
　A torque diode is a mechanical element that transmits power from an input shaft to an output shaft while blocking power from an output shaft to an input shaft.
　When a mechanical clutch and a torque diode are applied, electrical control by a control device 70 or the like is not required.
[0060]
　The speed reducer 62 decelerates the rotation of the electric motor 51 and outputs the speed. The speed reducer 62 is composed of, for example, a planetary gear mechanism housed in a speed reducer case (reference numeral omitted), and an input shaft and an output shaft extend in the X direction. By arranging the speed reducer 62 in this way, it is possible to reduce the size of the pin insertion / removal actuator 50 in the Y direction and the Z direction.
[0061]
　The torque limiter 63 is arranged in a power transmission path for transmitting the power of the electric motor 51, and is an overload protection device that holds the torque acting on the mechanical element (for example, the electric motor 51) constituting the power transmission path to a predetermined value or less. Is. The torque limiter 63 is arranged, for example, in the power transmission path after the speed reducer 62. By arranging the torque limiter 63 in this way, it is possible to reduce the influence of the tolerance and variation of the torque set value as compared with the case where the torque limiter 63 is arranged in the front stage of the speed reducer 62. Further, for example, the torque limiter 63 may be arranged in front of the speed reducer 62 in the power transmission path. In this case, since the torque set value becomes small, the torque limiter 63 can be downsized.
[0062]
　By continuing to slide the torque limiter 63 while driving the electric motor 51, it is possible to continue to apply a predetermined torque to the cylinder connection module 100 and the boom connection module 200. Therefore, the torque limiter 63 can be used as a substitute for the brake 52, and the cylinder connecting module 100 and the boom connecting module 200 can be maintained in the unplugged state. Further, since the electric motor 51 is not locked, heat generation due to overload does not occur.
[0063]
　The torque limiter 63 is attached to, for example, the output shaft of the clutch 61 (the transmission shaft 56 of the transmission mechanism 53), and when a torque larger than a predetermined value is generated, the friction between the input side element and the output side element while sliding is joined. It consists of a formula torque limiter.
[0064]
　The position detecting device 54 detects the displacement of the C pin 150 and the B pin 315, 325 based on the output of the electric motor 51 (for example, the rotation of the output shaft). The position detection device 54 detects, for example, the movement direction (rotation direction) and the movement amount (rotation angle) of the C pin 150 or the B pin 315, 325 from the reference position (see FIGS. 17A and 18A).
[0065]
　The position detection device 54 is composed of, for example, an angle sensor such as a rotary encoder or a potential meter, and outputs information (for example, a pulse signal or a code signal) according to the amount of rotation of the output shaft of the electric motor 51. The rotary encoder detects the rotational displacement of the input shaft using the built-in grid disk and outputs it. The potentiometer converts the change in the rotation angle into the change in the resistance value and outputs it.
　The output method of the rotary encoder is not particularly limited, and an incremental method that outputs a pulse signal (relative angle signal) according to the amount of rotation (rotation angle) from the measurement start position may be used, or an absolute angle with respect to the reference point. An absolute method that outputs a code signal (absolute angle signal) corresponding to the position may be used.
　When the position detecting device 54 is configured by an absolute rotary encoder, the absolute positions of the C pin 150 and the B pin 315 and 325 can be detected even when the non-energized state is restored to the energized state.
[0066]
　The position detecting device 54 may be provided directly on the output shaft of the electric motor 51, or may be provided on a rotating member (for example, a rotating shaft, a gear, etc.) that rotates together with the output shaft of the electric motor 51.
　In the present embodiment, the position detection device 54 is provided on the transmission shaft 56 in the subsequent stage (X direction + side) of the transmission mechanism 53 (torque limiter 63), and outputs information according to the amount of rotation of the transmission shaft 56. In this case, a rotary encoder capable of obtaining sufficient resolution with respect to the rotation speed (rotational speed) of the transmission shaft 56 is suitable for the position detection device 54.
　Since the missing tooth gear 110 for the C pin of the cylinder connecting module 100 and the missing tooth gear 210 for the B pin of the boom connecting module 200 are fixed to the transmission shaft 56, the detection result of the position detecting device 54 is , It can be said that the information corresponds to the rotation amount of the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin.
[0067]
　The position detection device 54 is not limited to the rotary encoder described above, and may be configured by, for example, a limit switch or a proximity sensor. The limit switch is arranged after the speed reducer 62 and is mechanically operated based on the output of the electric motor 51. Further, the proximity sensor is arranged behind the speed reducer 62 so as to face the rotating member that rotates based on the output of the electric motor 51, and outputs a detection signal based on the distance from the rotating member. The detection result of the position detection device 54 is output to the control device 70.
　However, the proximity sensor and the limit switch are provided at positions where, for example, the C pin 150 and the B pin 315, 325 can detect the on and off states, respectively, and have at least the same number as the C pin 150 and the B pin rack bars 220A and 220B. Only needed. On the other hand, when the rotary encoder is applied, the states of the C pin 150 and the B pin 315 and 325 can be detected by one detection sensor, so that the number of parts can be reduced and the cost can be reduced.
[0068]
　Further, the arrangement of the position detection device 54 is not limited to this embodiment. For example, the position detecting device 54 may be arranged before the speed reducer 62. That is, the position detection device 54 may acquire information to be output to the control device 70 based on the rotation of the electric motor 51 before being decelerated by the speed reducer 62. When the position detecting device 54 is arranged in the front stage of the speed reducer 62, higher resolution can be obtained as compared with the case where the position detecting device 54 is arranged in the rear stage of the speed reducer 62.
[0069]
　The control device 70 is, for example, an in-vehicle computer having a CPU (Central Processing Unit) as a calculation / control device, a ROM (Read Only Memory) and a RAM (Random Access Memory) as a main storage device, an input terminal, an output terminal, and the like. be. The control device 70 calculates information about the position of the C pin 150 or the B pin 315 or 325 based on the output of the position detection device 54. In the calculation, data (table, map, etc.) showing the correlation between the output of the position detection device 54 and the information regarding the positions of the C pin 150 and the B pin 315, 325 (for example, the amount of movement from the reference position) is used. Be done. This data is stored in, for example, a ROM.
[0070]
　In the control device 70, for example, by a calculation based on the output of the position detection device 54, the C pin 150 and the C pin receiving portions 311 and 321 of the tip boom 31 or the intermediate boom 32 are engaged with each other (for example, in FIG. 3A). It is determined whether it is in the state shown) or in the non-engaged state (for example, the state shown in FIG. 4B), that is, the connected state between the pin insertion / removal actuator 50 and the tip boom 31 or the intermediate boom 32.
　Further, in the control device 70, when the expansion / contraction target is the tip boom 31, the B pin 315 of the tip boom 31 and the intermediate boom 32 are engaged with each other by the calculation based on the detection result of the position detection device 54 (FIG. 3A, FIG. It is determined whether it is in the disengaged state (see FIG. 3B) or in the disengaged state (see FIG. 3C, etc.), that is, the connected state between the tip boom 31 and the intermediate boom 32. Similarly, when the expansion / contraction target is the intermediate boom 32, the control device 70 determines the connection state between the intermediate boom 32 and the proximal boom 33 by a calculation based on the detection result of the position detecting device 54.
　The control device 70 executes various controls of the pin insertion / removal actuator 50, including operation control of, for example, the electric motor 51, the brake 52, the clutch 61, etc., based on the calculation result. When executing various controls of the pin insertion / removal actuator 50, for example, various sensors provided in the telescopic boom 30 and the telescopic actuator 40 are used to acquire information indicating the state of the telescopic boom 30 or the telescopic actuator 40. You may.
[0071]
　The cylinder connecting module 100 and the boom connecting module 200 will be described with reference to FIGS. 11 to 14. 11 to 13 are views showing the internal structure of the pin insertion / removal actuator 50. FIG. 14 is a diagram schematically showing the configuration of the pin insertion / removal actuator 50.
　11 to 14 show a neutral state in which the electric motor 51 is stopped and the cylinder connecting module 100 and the boom connecting module 200 are not operating. In the neutral state, the cylinder connecting module 100 and the boom connecting module 200 are in the inserted state. The neutral state is maintained, for example, by mechanically restricting the movement of the C-pin rack bar 120 and the B-pin rack bars 220A and 220B by a stopper (not shown). The neutral state may be maintained by balancing the urging force of the C-pin urging mechanism 160 with the urging force of the B-pin urging mechanism 240.
[0072]
　Further, FIGS. 15A and 15B show a pulled-out state of the boom connecting module 200 and a pulled-out state of the cylinder connecting module 100. As shown in FIG. 15A, the boom connection module 200 is held in the on state when the cylinder connection module 100 is removed. As shown in FIG. 15B, the cylinder connecting module 100 is held in the inserted state when the boom connecting module 200 is removed.
[0073]
　The cylinder connecting module 100 operates based on the power of the electric motor 51 (that is, rotary motion), and makes a state transition between the on state (see FIG. 11) and the unplugged state (see FIG. 15A).
　The inserted state of the cylinder connecting module 100 is a state in which the C pin receiving portions 311 and 321 of the tip boom 31 or the intermediate boom 32 are engaged with the C pin 150, and the respective boom elements and the pin insertion / removal actuator 50 are connected. Is. In this connected state, the tip boom 31 and the intermediate boom 32 can be moved together with the cylinder portion 42 and the pin connecting actuator 50 (see FIGS. 3B, 15B, etc.).
　On the other hand, when the cylinder connecting module 100 is pulled out, the C pin 150 is detached from the C pin receiving portions 311 and 321 of the tip boom 31 or the intermediate boom 32, and the respective boom elements and the pin connecting actuator 50 are separated. It is a state. In this unconnected state, the cylinder portion 42 and the pin connecting actuator 50 can move independently of the respective boom elements (see FIGS. 4B, 15A, etc.).
[0074]
　The boom connection module 200 operates based on the power (that is, rotational motion) of the electric motor 51, and makes a state transition between the on state (see FIG. 11) and the unplugged state (see FIG. 15B).
　The state in which the boom connection module 200 is inserted means that, for example, the B pin 315 is inserted through the base end side B pin receiving portion 322 or the tip end side B pin receiving portion 323 of the intermediate boom 32, and the tip boom 31 and the intermediate boom 32 are connected. It is in a state of doing. In this connected state, the tip boom 31 cannot move in the expansion / contraction direction with respect to the intermediate boom 32 (see FIGS. 3A, 15A, etc.).
　On the other hand, the state in which the boom connection module 200 is removed means that, for example, the B pin 315 is detached from the base end side B pin receiving portion 322 or the tip end side B pin receiving portion 323 of the intermediate boom 32, and the tip boom 31 and the intermediate boom 32 are removed. It is a state of separating from. In this unconnected state, the tip boom 31 can move in the expansion / contraction direction with respect to the intermediate boom 32 (see FIGS. 3B, 15B, etc.).
[0075]
　As shown in FIGS. 11 to 14, the cylinder connecting module 100 includes a missing tooth gear 110 for C pin, a rack bar 120 for C pin, a first gear group 130, a second gear group 140, a C pin 150, and C. It has a pin urging mechanism 160. Each mechanical element 110 to 160 is an example of a constituent member of the first connecting mechanism. In the following description, the C pin 150 will be distinguished and shown as "C pin 150A, 150B".
[0076]
　In the present embodiment, the cylinder connecting module 100 incorporates a pair of C pins 150A and 150B, but the C pins 150A and 150B may be provided independently of the cylinder connecting module 100.
[0077]
　The C-pin missing tooth gear 110 is a substantially circular plate-shaped gear, and has a tooth portion 111 (see FIG. 12) on a part of the outer peripheral surface. The missing tooth gear 110 for the C pin is externally fitted and fixed to the transmission shaft 56 of the transmission mechanism 53, and rotates together with the transmission shaft 56. The C-pin missing tooth gear 110 constitutes a switchgear G (see FIG. 14) together with the B-pin missing tooth gear 210 of the boom coupling module 200. The power of the electric motor 51 is selectively transmitted to either the cylinder connecting module 100 or the boom connecting module 200 by the switchgear G.
[0078]
　In the present embodiment, the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin constituting the switchgear G are the cylinder connecting module 100 which is the first connecting mechanism and the boom connecting module 200 which is the second connecting mechanism, respectively. The switchgear G may be provided independently of the first coupling mechanism and the second coupling mechanism.
　Further, the switchgear G may function as the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin, and may be composed of one missing tooth gear, for example, as shown in FIG.
[0079]
　In the following description, the rotation direction of the C-pin missing gear 110 (R1 direction in FIG. 14) when the cylinder connecting module 100 transitions from the entered state (see FIG. 11) to the disconnected state (see FIG. 15A). Is referred to as a "forward direction", and the rotation direction (R2 direction in FIG. 14) of the C-pin missing tooth gear 110 when the state transitions from the removed state to the entered state is referred to as "reverse direction".
　Of the convex portions constituting the tooth portion 111 of the C-pin missing tooth gear 110, the convex portion provided at the positive end of the C-pin missing tooth gear 110 is a positioning tooth (not shown).
[0080] [0080]
　The C-pin rack bar 120 is, for example, a shaft member extending in one direction, and is arranged on the lower side (Z direction-side) of the C-pin missing tooth gear 110 along the Y direction.
　The C-pin rack bar 120 has an input side rack portion 121 on the side (Z direction + side) close to the C-pin missing tooth gear 110, and has a side far from the C-pin missing tooth gear 110 (Z direction-). It has two output side rack portions 122 and 123 on the surface of the side).
[0081]
　The input side rack portion 121 meshes with the tooth portion 111 of the C-pin missing tooth gear 110 only when the cylinder connecting module 100 transitions from the inserted state (see FIG. 11) to the disconnected state (see FIG. 15A).
　Specifically, in the inserted state of the cylinder connecting module 100, the first end surface (not shown) on the Y direction + side of the input side rack portion 121 is a positioning tooth (not shown) in the tooth portion 111 of the tooth loss gear 110 for C pin. (Omitted) and abut, or face each other in the Y direction through a slight gap. In this state, when the missing tooth gear 110 for the C pin rotates in the R1 direction, the positioning tooth pushes the first end surface to the + side in the Y direction, and the rack bar 120 for the C pin moves to the + side in the Y direction. Then, the tooth portion 111 formed in the direction opposite to the positioning tooth sequentially meshes with the input side rack portion 121. As a result, the rack bar 120 for the C pin moves to the + side in the Y direction as the missing tooth gear 110 for the C pin rotates in the R1 direction.
　When the C-pin missing tooth gear 110 rotates in the R2 direction from the inserted state of the cylinder connecting module 100 shown in FIG. 11, the input side rack portion 121 is the tooth portion 111 of the C-pin missing tooth gear 110. Does not mesh with.
[0082]
　In this way, the C-pin rack bar 120 moves in its own longitudinal direction (Y direction) as the C-pin missing tooth gear 110 rotates. The C-pin rack bar 120 is located on the most Y-direction-side in the inserted state of the cylinder connecting module 100 (see FIG. 11), and is located most on the Y-direction + side in the unplugged state (see FIG. 15A).
　That is, when the missing tooth gear 110 for the C pin rotates in the R1 direction in the inserted state (neutral state) of the cylinder connecting module 100, the rack bar 120 for the C pin moves to the + side in the Y direction and transitions to the removed state. .. On the other hand, when the missing tooth gear 110 for the C pin rotates in the R2 direction in the state where the cylinder connecting module 100 is pulled out, the rack bar 120 for the C pin moves in the Y direction − side and transitions to the entered state.
[0083]
　The output side rack portions 122 and 123 mesh with the first gear group 130 and the second gear group 140, respectively.
[0084]
　The first gear group 130 includes, for example, a drive gear 131, an intermediate gear 132, and a driven gear 133. Each gear element is composed of spur gears.
　Specifically, the drive gear 131 meshes with the output side rack portion 122 and the intermediate gear 132 of the C-pin rack bar 120. The intermediate gear 132 meshes with the drive gear 131 and the driven gear 133. The driven gear 133 meshes with the intermediate gear 132 and the pin-side rack portion 151 of one C pin 150A.
[0085]
　When the cylinder connecting module 100 is in the inserted state, the drive gear 131 meshes with the Y-direction + side end or the end-side portion of the output-side rack portion 122 of the C-pin rack bar 120. Further, the driven gear 133 meshes with the end portion on the Y direction − side of the pin side rack portion 151 of one C pin 150A.
[0086]
　The second gear group 140 has, for example, a drive gear 141 and a driven gear 142. Each gear element is composed of spur gears.
　Specifically, the drive gear 141 meshes with the output side rack portion 123 and the driven gear 142 of the C-pin rack bar 120. The driven gear 142 meshes with the drive gear 141 and the pin-side rack portion 151 of the other C pin 150B.
[0087]
　When the cylinder connecting module 100 is in the inserted state, the drive gear 141 meshes with the Y-direction + side end or the end-side portion of the output-side rack portion 123 of the C-pin rack bar 120. Further, the driven gear 142 meshes with the end portion on the + side in the Y direction of the pin side rack portion 151 of the other C pin 150B.
[0088]
　In the first gear group 130, the drive gear 131 and the driven gear 133 are connected via the intermediate gear 132, whereas in the second gear group 140, the drive gear 141 and the driven gear 142 are directly connected. .. Therefore, the rotation direction of the driven gear 133 of the first gear group 130 and the rotation direction of the driven gear 142 of the second gear group 140 are opposite to each other.
[0089]
　The pair of C pins 150A and 150B are arranged so as to be coaxial with each other in the Y direction, for example. The C pins 150A and 150B are preferably symmetrical with respect to the center of the piston rod portion 41 of the telescopic actuator 40. As a result, it is possible to prevent bending stress from being generated in the piston rod portion 41, and it is possible to reduce the dimension in the height direction (Z direction).
　The C pins 150A and 150B may be arranged symmetrically with respect to the expansion / contraction direction (X direction), and may be arranged at positions displaced from each other in the Z direction, for example, with respect to the piston rod portion 41. It may be provided at an eccentric position (for example, the Z direction − side of the piston rod portion 41).
　In the following, the tip portions of the C pins 150A and 150B are ends on the side far from each other, and the end portions on the side close to each other with the base end portion.
[0090]
　The C pins 150A and 150B have a pin-side rack portion 151 on the outer peripheral surface. The pin-side rack portion 151 of one C pin 150A meshes with the driven gear 133 of the first gear group 130. The pin-side rack portion 151 of the other C pin 150B meshes with the driven gear 142 of the second gear group 140.
[0091]
　The C pins 150A and 150B move in their own axial direction (Y direction) as the driven gears 133 and 142 rotate, respectively. Specifically, one C pin 150A moves in the Y direction-side when the cylinder connecting module 100 transitions from the inserted state to the disconnected state, and Y when the cylinder connecting module 100 transitions from the inserted state to the inserted state. Move to the + direction. The other C pin 150B moves to the + side in the Y direction when the cylinder connecting module 100 transitions from the inserted state to the removed state, and moves to the Y direction-side when the state transitions from the removed state to the inserted state. do. That is, in the above-mentioned state transition, the C pins 150A and 150B move in opposite directions in the Y direction.
[0092]
　The C-pin urging mechanism 160 urges the C-pins 150A and 150B in directions away from each other. The C-pin urging mechanism 160 is composed of, for example, a pair of compression coil springs. In the present embodiment, the C-pin urging mechanism 160 is arranged on the proximal end side of the C-pins 150A and 150B, and the C-pins 150A and 150B are urged toward the distal end side.
　When the operation of the electric motor 51 is stopped after the electric motor 51 rotates in the R1 direction and the cylinder connecting module 100 is pulled out (see FIG. 15A), the cylinder connecting module 100 is subjected to the C-pin urging mechanism 160. It automatically returns to the on state by the urging force. However, when the brake 52 is operating, the cylinder connecting module 100 does not automatically return to the entered state, and the removed state is maintained.
[0093]
　The C-pin urging mechanism 160 may directly exert an urging force on the C-pins 150A and 150B, or may exert an urging force via another member. Further, the C-pin urging mechanism 160 may be omitted, and the cylinder connecting module 100 may transition from the unplugged state to the filled state based on the power of the electric motor 51. Even in this case, from the viewpoint of fail-safe, it is preferable to provide the C-pin urging mechanism 160 so as to return to the safe side when the motor fails.
[0094]
　As shown in FIGS. 11 to 13, the boom coupling module 200 includes a missing tooth gear 210 for the B pin, a pair of rack bars 220A and 220B for the B pin, a synchronous gear 230 (see FIG. 14), and a B pin attachment. It has a gear mechanism 240. Each mechanical element 210 to 240 is an example of a constituent member of the second connecting mechanism. In the following description, the B pin 315 will be distinguished and shown as "B pin 315A, 315B". Further, the case where the boom connecting module 200 acts on the B pin 315 will be described, but the same applies to the case where the boom connecting module 200 acts on the B pin 325.
[0095]
　The missing tooth gear 210 for the B pin is a gear having a substantially circular plate shape, and has a tooth portion 211 on a part of the outer peripheral surface. The missing tooth gear 210 for the B pin is externally fitted and fixed on the + side in the X direction with respect to the missing tooth gear 110 for the C pin on the transmission shaft 56, and rotates together with the transmission shaft 56. As described above, the missing tooth gear 210 for the B pin constitutes the switchgear G (see FIG. 14) together with the missing tooth gear 110 for the C pin of the cylinder connecting module 100.
[0096]
　In the following description, the rotation direction of the missing tooth gear 210 for the B pin (R2 direction in FIG. 14) when the boom connecting module 200 transitions from the on state (see FIG. 11) to the unplugged state (see FIG. 15B). Is referred to as a "forward direction", and the rotation direction (R1 direction in FIG. 14) of the missing tooth gear 210 for the B pin when the state transitions from the removed state to the entered state is referred to as "reverse direction".
　Of the convex portions constituting the tooth portion 211 of the B-pin missing tooth gear 210, the convex portion provided at the positive end of the B-pin missing tooth gear 210 is a positioning tooth (reference numeral omitted).
[0097]
　That is, the rotation direction R2 of the missing tooth gear 210 for the B pin when the boom connecting module 200 transitions from the inserted state to the disconnected state is for the C pin when the cylinder connecting module 100 transitions from the inserted state to the disconnected state. It is opposite to the rotation direction R1 of the missing tooth gear 110.
[0098]
　The pair of B-pin rack bars 220A and 220B are, for example, shaft members extending in one direction, and are arranged parallel to each other along the Y direction on the upper side (Z direction + side) of the B-pin missing tooth gear 110. Will be done. Further, the B-pin rack bars 220A and 220B are arranged around the synchronous gear 230 (see FIG. 14) in the X direction.
[0099]
　The B-pin rack bars 220A and 220B each have an engaging portion 221 that engages with the locking piece 314a of the B-pin holding portion 314. The locking piece 314a is provided in the B pin holding portion 314, for example, at both ends in the Y direction (near the B pins 315A and 315B).
[0100]
　One B-pin rack bar 220B has a drive-side rack portion 222 on a surface close to the B-pin missing tooth gear 210. Further, the B-pin rack bars 220A and 220B have a synchronization side rack portion 223 (see FIG. 14) on a surface facing the X direction. The synchronization side rack portion 223 meshes with the synchronization gear 230, respectively.
[0101]
　The drive-side rack portion 222 meshes with the tooth portion 211 of the tooth loss gear 210 for the B pin only when the boom connecting module 200 transitions from the entered state (see FIG. 11) to the disconnected state (see FIG. 15B).
　Specifically, when the boom connecting module 200 is inserted, the first end surface (not shown) on the + side in the Y direction of the drive side rack portion 222 is a positioning tooth (not shown) in the tooth portion 211 of the tooth loss gear 210 for the B pin. It faces the Y direction through contact with (omitted) or a slight gap. In this state, when the missing tooth gear 210 for the B pin rotates in the R2 direction, the positioning tooth pushes the first end surface to the + side in the Y direction, and the rack bar 220B for the B pin moves to the + side in the Y direction.
　Further, when one B-pin rack bar 220B moves in the Y direction + side, the synchronization gear 230 rotates, and the other B-pin rack bar 220A becomes the Y direction-side (that is, the B-pin rack bar 220B). Move to the other side).
　When the B-pin missing tooth gear 210 rotates in the R1 direction from the state in which the boom connecting module 200 is inserted as shown in FIG. 11, the drive side rack portion 222 is the tooth portion 211 of the B-pin missing tooth gear 210. Does not mesh with.
[0102]
　In this way, the B-pin rack bars 220A and 220B move in their own longitudinal direction (Y direction) with the rotation of the B-pin missing tooth gear 210, respectively. On the other hand, the rack bar 220B for the B pin is located on the most Y direction-side in the inserted state of the boom coupling module 200 (see FIG. 11), and is located most on the Y direction + side in the unplugged state (see FIG. 15B). .. The other B-pin rack bar 220A is located on the + side in the Y direction most in the inserted state of the boom coupling module 200 (see FIG. 11), and is located on the − side in the Y direction most in the removed state (FIG. 15B). reference).
[0103]
　As one B-pin rack bar 220B moves in the Y direction, one locking piece 314a of the B-pin holding portion 314 and the engaging portion 221 of the B-pin rack bar 220B come into contact with each other. Then, the member supporting the B pin 315B of the B pin holding portion 314 moves in the Y direction, so that the B pin 315B transitions to the inserted state or the removed state.
　Similarly, as the other B-pin rack bar 220A moves in the Y direction, the other locking piece 314a of the B-pin holding portion 314 and the engaging portion 221 of the B-pin rack bar 220A come into contact with each other. Then, the member supporting the B pin 315A of the B pin holding portion 314 moves in the Y direction, so that the B pin 315A transitions to the inserted state or the removed state.
　In the above-mentioned state transition, the B pins 315A and 315B move in opposite directions in the Y direction.
[0104]
　The movement of one B-pin rack bar 220B in the Y direction + side and the movement of the other B-pin rack bar 220A in the Y direction-side are performed, for example, by a stopper provided on the housing 58 (not shown). It is regulated by contact with (omitted).
[0105]
　The B-pin urging mechanism 240 urges the B-pin rack bars 220A and 220B in a direction away from each other. The B-pin urging mechanism 240 is composed of, for example, a pair of compression coil springs. In the present embodiment, the B-pin urging mechanism 240 is built in the B-pin rack bars 220A and 220B, and the B-pin rack bars 220A and 220B are urged toward the tip side.
　After the electric motor 51 rotates in the R2 direction and the boom connecting module 200 is pulled out (see FIG. 15B), when the operation of the electric motor 51 is stopped, the boom connecting module 200 is the B-pin urging mechanism 240. It automatically returns to the on state (see FIG. 11) by the urging force. However, when the brake 52 is operating, the boom connection module 200 does not automatically return to the loaded state, and the unplugged state is maintained.
[0106]
　The B-pin urging mechanism 240 may directly apply the urging force to the B-pin rack bars 220A and 220B, or may apply the urging force via other members. Further, the B-pin urging mechanism 240 may be omitted, and the boom connection module 200 may be changed from the unplugged state to the on-state based on the power of the electric motor 51. Even in this case, from the viewpoint of fail-safe, it is preferable to provide the B-pin urging mechanism 240 so as to return to the safe side when the motor fails.
[0107]
　In the lock mechanism 55, an external force other than the power from the electric motor 51 acts on the cylinder connecting module 100 (for example, the rack bar 120 for the C pin) or the boom connecting module 200 (for example, the rack bars 220A and 220B for the B pin). This prevents the cylinder connection module 100 and the boom connection module 200 from transitioning to the unplugged state at the same time. That is, the lock mechanism 55 prevents the operation of the other coupling mechanism while the coupling mechanism of one of the boom coupling module 200 and the cylinder coupling module 100 is operating.
[0108]
　The locking mechanism 55 will be described with reference to FIGS. 16A to 16C. FIG. 16A shows a state when the cylinder connecting module 100 and the boom connecting module 200 are in the inserted state (neutral position), and FIGS. 16B and 16C show the transition from the inserted state to the unplugged state of the boom connecting module 200, respectively. Show the state of time. In FIGS. 16A to 16C, the missing tooth gear 110 for the C pin of the cylinder connecting module 100 and the missing tooth gear 210 for the B pin of the boom connecting module 200 are shown as a switchgear G integrally formed.
[0109]
　As shown in FIG. 16A and the like, the lock mechanism 55 has a first convex portion 551, a second convex portion 552, and a cam member 553 (lock side rotating member).
　The first convex portion 551 is integrally provided with the C-pin rack bar 120 of the cylinder connecting module 100. Specifically, the first convex portion 551 is provided at a position adjacent to the input side rack portion 121 of the C-pin rack bar 120.
　The second convex portion 552 is integrally provided with the rack bar 220B for one B pin of the boom connecting module 200. Specifically, the second convex portion 552 is provided at a position adjacent to the drive-side rack portion 222 of one of the B-pin rack bars 220B.
[0110]
　The cam member 553 is a plate-shaped member having a substantially crescent shape. The cam member 553 has a first cam receiving portion 553a at one end in the circumferential direction and a second cam receiving portion 553b at the other end.
[0111]
　For example, the cam member 553 is externally fitted and fixed at a position of the transmission shaft 56 that is displaced in the X direction from the position where the switchgear G is externally fixed. In the case of the present embodiment, the cam member 553 is externally fitted and fixed between the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin. That is, the cam member 553 is provided coaxially with the switch gear G, and rotates around the transmission shaft 56 together with the switch gear G as the transmission shaft 56 rotates.
[0112]
　The cam member 553 may be integrally provided with the switch gear G. Further, the cam member 553 may be integrally provided on at least one of the missing tooth gears of the C-pin missing tooth gear 110 and the B-pin missing tooth gear 210.
[0113]
　As shown in FIG. 16B, in a state where the tooth portion G1 of the switch gear G meshes with the drive side rack portion 222 of the rack bar 220B for the B pin, the first cam receiving portion 553a of the cam member 553 has the first convex portion 551. It is located on the + side in the Y direction. That is, the first cam receiving portion 553a and the first convex portion 551 face each other with a slight gap in the Y direction. In this state, even if an external force (external force Fa in FIG. 16B) acts on the C-pin rack bar 120 toward the + side in the Y direction, it is absorbed by the gap.
　When a larger external force Fa is applied to the C-pin rack bar 120 in the Y direction + side, the C-pin rack bar 120 moves from the position shown by the alternate long and short dash line in FIG. 16B to the position shown by the solid line. .. In this state, the first convex portion 551 abuts on the first cam receiving portion 553a to prevent the C-pin rack bar 120 from moving in the Y direction + side.
[0114]
　Further, as shown in FIG. 16C, in a state where the tooth portion G1 of the switch gear G meshes with the input side rack portion 121 of the rack bar 120 for the C pin, the second cam receiving portion 553b of the cam member 553 has a second convex. It is located on the + side in the Y direction with respect to the portion 552. That is, the second cam receiving portion 553b and the second convex portion 552 face each other with a slight gap in the Y direction. In this state, even if an external force on the + side in the Y direction (external force Fb in FIG. 16C) is applied to the rack bar 220B for the B pin, it is absorbed by the gap.
　When a larger external force Fb is applied to the B-pin rack bar 220B toward the + side in the Y direction, the B-pin rack bar 220B moves in the Y direction from the position shown by the alternate long and short dash line in FIG. 16C to the position shown by the solid line. Move to the + side. In this state, the second convex portion 552 abuts on the second cam receiving portion 553b, and the B-pin rack bar 220B is prevented from moving in the Y direction + side.
[0115]
　
　An example of the operation of the cylinder connection module 100 and the boom connection module 200 will be described with reference to FIGS. 17A to 17C and FIGS. 18A to 18C. The operation shown in FIGS. 17A to 17C and FIGS. 18A to 18C is, for example, an operation of pulling out the cylinder connecting module 100 and the boom connecting module 200 when the tip boom 31 is extended.
　In the following, the rotation of the electric motor 51 when transitioning the boom connecting module 200 from the on state to the unplugged state is referred to as "normal rotation", and the rotation of the electric motor 51 when transitioning the cylinder connecting module 100 from the on state to the unplugged state is performed. Called "reversal".
[0116]
　17A to 17C are schematic views for explaining the operation of the cylinder connecting module 100. 17A to 17C show the operation when the cylinder connecting module 100 transitions from the inserted state to the disconnected state. In FIGS. 17A to 17C, the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin are shown as a switchgear G integrally formed. Further, in FIGS. 17A to 17C, the lock mechanism 55 is omitted.
[0117]
　As shown in FIG. 17A, the cylinder connecting module 100 is in the neutral state in the contracted state before the tip boom 31 is extended. That is, the C pin 150 is engaged with the C pin receiving portion 311 of the tip boom 31, and the tip boom 31 and the cylinder connecting module 100 are in a connected state.
[0118]
　When the cylinder connecting module 100 makes a state transition from the on state to the out state, the power of the electric motor 51 is transmitted to the C pins 150A and 150B in the following first and second paths.
　The first path is a missing tooth gear 110 for C pin → a rack bar 120 for C pin → a first gear group 130 → one C pin 150A. The second path is the missing tooth gear 110 for the C pin → the rack bar 120 for the C pin → the second gear group 140 → the other C pin 150B.
[0119]
　As shown in FIG. 17B, when the electric motor 51 reverses, the C-pin missing tooth gear 110 rotates in the R1 direction. As the C-pin missing tooth gear 110 rotates, the C-pin rack bar 120 is displaced in the Y direction + side (right side of FIGS. 17A to 17C). Along with this, in the first path, one C pin 150A is displaced in the Y direction − side (left side in FIGS. 17A to 17C) via the first gear group 130. In the second path, the other C pin 150B is displaced to the + side in the Y direction (right side of FIGS. 17A to 17C) via the second gear group 140. That is, when the cylinder connecting module 100 transitions from the inserted state to the disconnected state, one C pin 150A and the other C pin 150B are displaced in a direction approaching each other.
[0120]
　Finally, as shown in FIG. 17C, the C pins 150A and 150B are completely detached from the C pin receiving portion 311, and the cylinder connecting module 100 and the tip boom 31 are in a non-connected state. The state transition from the unplugged state to the filled state of the cylinder connecting module 100 is automatically performed based on the urging force of the C-pin urging mechanism 160.
[0121]
　18A to 18C are schematic views for explaining the operation of the boom connection module 200. 18A to 18C show the operation when the boom connecting module 200 transitions from the entered state to the disconnected state. In FIGS. 18A to 18C, the missing tooth gear 110 for the C pin and the missing tooth gear 210 for the B pin are shown as a switchgear G integrally formed. Further, in FIGS. 18A to 18C, the lock mechanism 55 is omitted.
[0122]
　As shown in FIG. 18A, the cylinder connecting module 100 and the boom connecting module 200 are in the neutral state in the contracted state before the tip boom 31 is extended. That is, the tip boom 31 is connected to the intermediate boom 32 via the B pin 315, and is immovable with respect to the intermediate boom 32 in the expansion / contraction direction.
[0123]
　When the boom connection module 200 transitions from the on state to the unplugged state, the power of the electric motor 51 is the missing tooth gear 210 for the B pin → the rack bar 220B for one B pin → the synchronous gear 230 → for the other B pin. It is transmitted by a route called rack bar 220A.
[0124]
　As shown in FIG. 18B, when the electric motor 51 rotates in the normal direction, the missing tooth gear 210 for the B pin rotates in the R2 direction. As the B-pin missing tooth gear 210 rotates, one of the B-pin rack bars 220B is displaced in the Y direction + side (right side of FIGS. 18A to 18C). Further, the synchronous gear 230 rotates, and the other B-pin rack bar 220A is displaced in the Y direction − side (left side in FIGS. 18A to 18C) in response to the rotation of the synchronous gear 230. That is, when the boom connecting module 200 transitions from the on state to the unplugged state, one B-pin rack bar 220B and the other B-pin rack bar 220A are displaced in a direction approaching each other. As a result, the B pin holding portion 314 connected to the B pin rack bars 220A and 220B also contracts, and the B pin 315 held by the B pin holding portion 314 is gradually removed from the B pin receiving portion 322. To.
[0125]
　Finally, as shown in FIG. 18C, the B pins 315A and 315B are completely detached from the B pin receiving portion 322, and the tip boom 31 and the intermediate boom 32 are in a non-connected state. The state transition from the unplugged state to the closed state of the boom coupling module 200 is automatically performed based on the urging force of the B-pin urging mechanism 240.
[0126]

　FIG. 19 is a timing chart showing an example of control at the time of expansion / contraction operation of the expansion / contraction boom 30. For the sake of convenience, a case where the tip boom 31 is extended from the fully contracted state will be described. The inserted / removed state of the B pin 315 corresponds to the inserted / removed state of the boom connecting module 200, and the inserted / removed state of the C pin 150 corresponds to the inserted / removed state of the cylinder connecting module 100. do. The ON / OFF switching of the electric motor 51, the brake 52, and the clutch 61 is controlled by the control device 70.

The scope of the claims
[Claim 1]
　A telescopic boom having a first boom and a second boom that can be
　expanded and contracted, an expansion and contraction actuator that moves the first boom in the expansion and contraction direction with respect to the second boom, and
　a movable portion of the expansion and contraction actuator are provided. The electric drive source,
　the first fixing pin connecting the telescopic actuator and the first boom, and
　the first fixing pin are urged to maintain the connected state of the telescopic actuator and the first boom. It operates based on the power of the first urging mechanism and the
　electric drive source, and by inserting and removing the first fixing pin, the expansion / contraction actuator and the first boom are connected and disconnected. The first connecting mechanism for switching,
　the second fixing pin for connecting the first boom and the second boom, and
　the second fixing pin are urged to maintain the connected state between the first boom and the second boom. The second urging mechanism
　operates based on the power of the electric drive source, and by inserting and removing the second fixing pin, the first boom and the second boom are connected and disconnected. A second coupling mechanism for switching between the above and
　a control device for controlling the operation of the electric drive source is provided, and the
　control device is used when the first fixing pin is restored by the urging force of the first urging mechanism. And / or, a working machine that executes a motor assist process for operating the electric drive source when the second fixing pin is restored by the urging force of the second urging mechanism.
[Claim 2]
　The working machine according to claim 1, wherein the control device executes the motor assist process when a predetermined condition is satisfied.
[Claim 3]
　The working machine according to claim 2, wherein the control device executes the motor assist process when the ambient environmental temperature is equal to or lower than the predetermined temperature as the predetermined condition.
[Claim 4]
　The working machine according to claim 3, wherein the control device determines a drive start timing and / or a drive time of the electric drive source in the motor assist process according to the environmental temperature.