JP2000297586A - Casing driver operation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely carry out positioning for engaging/releasing a coupling with safety of a worker secured and solve problems such as space limitation inside an operation room or laborious work for wiring. SOLUTION: In this casing driver operation system, at least one operation state display means showing an operation state of a casing driver 2 provided with an elevating frame 5 mounted to a base frame 4 freely raisably, a rotor 8 mounted to the elevating frame 5 freely rotationally by means of a hydraulic motor 12, and a casing gripping band 9 installed to the rotor 8 is arranged in a predetermined area in at least one display screen of a touch panel 106. In this casing driver operation system, at least one camera 1 photographing a predetermined section of the casing driver 2 is arranged, and its photographed image is displayed on at least one display screen in the touch panel 106.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a casing driver for press-fitting / pulling out large-diameter steel pipe piles and steel pipes used for foundation work of construction and civil engineering, and in particular, for operating the casing driver. Related to the operation system.

[0002]

2. Description of the Related Art Generally, a casing driver is provided with a ring-shaped elevating frame which is raised and lowered by a hydraulically driven thrust cylinder, a rotating body provided in the elevating frame and rotated by a hydraulic motor, and attached to the rotating body.
A casing gripper (for example, a casing band) for gripping the casing, and a hydraulic cylinder (for example, a band cylinder) for opening and closing the casing gripper by supplying and discharging pressurized oil to expand and contract. A hydraulic pipe communicating with the oil chamber of the band cylinder is disposed on the outer periphery of the rotating body, and the hydraulic pipe has a pair of two joints on the pressure oil supply side and the pressure oil discharge side. A plurality of pairs of joints (for example, male joints) are arranged at predetermined intervals.

For example, when press-fitting a casing, first, a hydraulic motor is driven, and any one of a plurality of joints of a rotating body is provided on an elevating frame as two pairs as described above. It is positioned so as to face a pair of joints (for example, a female joint). Then, the two pairs of facing joints are connected by the joint engaging / disengaging device, hydraulic fluid is supplied to the band cylinder via the joints, the band is operated in the closing direction, and the casing is chucked. After the chucking is completed, the two pairs of joints are separated again by the joint engaging / disengaging device, and then the thrust cylinder is operated in the lowering direction of the lifting frame, and at the same time, the rotating body is rotated together with the casing by the hydraulic motor.
Thus, the casing is given a pushing force by its own weight of the casing driver or the weight of the weight attached thereto, and is pressed into the ground by one stroke of the thrust cylinder. Thereafter, the two pairs of joints are again connected to face each other, hydraulic fluid is supplied to the band cylinder via these joints, the band is operated in the opening direction, the restraint by the band of the casing is released, and the lifting frame is raised. Thereafter, the process returns to the connection operation of the two pairs of joints and the chucking operation of the casing described above, and the subsequent operations are repeated.

As described above, in the operation by the casing driver, it is necessary to engage and disengage the joint on the rotating body side and the joint on the lifting frame side by the joint engaging and disengaging device.
Positioning must be performed so that the joints of the pair face each other.

Conventionally, positioning at this time is performed by separately placing a monitoring operator in addition to an operator operating the operation panel in an operation room slightly away from the casing driver, and performing positioning by visual cue of the operator. I was going. However, in this case, it is necessary for an operator to enter a close distance of a casing driver which is a large-sized machine having a rotating part, which is not preferable in terms of ensuring safety. In addition, as disclosed in, for example, Japanese Patent Application Laid-Open No. 4-254090, the rotation drive of the rotating body is controlled by detecting that the two pairs of joints have come to the opposed positions by a limit switch, a sensor, or the like. A method of stopping at a position has also been proposed. In this case, basically, positioning can be performed by a single operation of the operator in the operation room. However, since the working site of the casing driver is usually in a harsh environment outdoors and exposed to earth and sand dust, there is a possibility that those switches, sensors, etc. may fail or malfunction for some reason. However, as described above, the operator had to perform the positioning by visual inspection of the operator, and had the same concern as above.

Therefore, in order to eliminate such safety concerns, a camera is installed near the casing driver, and an operator monitors the photographed image in the operation room and controls the rotational drive of the rotating body. It is possible to perform positioning.

[0007]

However, the above-mentioned method has another problem as described below.

That is, as described above, the operator operates the casing driver by operating the operation panel in an operation room slightly away from the casing driver. The operation room is installed at a corner of the work site, but the space in the operation room is relatively small in order to secure as much space as possible for various work spaces and material storage areas at the work site. Therefore, it is difficult to secure a space for additionally arranging monitor means (for example, a monitor television) for the video monitor.

Various cables for connection extend from the operation panel in the operation room to the casing driver.
Therefore, when the casing is pressed into (or pulled out of) one place in the work site and moves to another place, the cables must be reconnected after the casing driver is moved. In particular, when the moving distance is large, the operation room must be moved to another position in the work site, and both the connection of the cable to the operation room side and the connection to the casing driver side are newly performed. It must be made. In the above method of providing the monitor means in the operation room, a dedicated cable for monitoring from the camera to the monitor means in the operation room is further required,
Further, the wiring work becomes complicated.

[0010] An object of the present invention is to ensure the positioning for engaging and disengaging a joint while ensuring the safety of workers.
It is another object of the present invention to provide a casing driver operation system capable of solving the problems of space restrictions in the operation room and troublesome wiring work.

[0011]

(1) In order to achieve the above object, the present invention provides an elevating frame which is mounted on a base frame so as to be movable up and down by a thrust cylinder, and is rotatably mounted on the elevating frame by a hydraulic motor. And displaying at least one operating state display means for displaying an operating state of a casing driver provided with the rotating body and a casing gripper attached to the rotating body on a screen. In a casing driver operation system arranged in a predetermined area of at least one display screen of a touch panel capable of freely switching a display area and a display screen by a touch operation of a fingertip, at least one camera for photographing a predetermined portion of the casing driver And the captured video is Displaying in said at least one display screen of the touch panel.

By displaying the photographed image on at least one display screen of the touch panel, for example, a first joint on a rotating body side for supplying hydraulic oil to a hydraulic cylinder for operating a casing gripper is connected to a hydraulic source. If the state of engagement and disengagement with the second joint on the lifting frame side is displayed on the touch panel, the operator of the casing driver performs rotation drive control of the rotating body as appropriate while looking at the image to position the joint. It can be done reliably. This eliminates the need for an operator to enter the close range of the casing driver as in the related art, so that safety can be ensured. At this time, by displaying an image on the touch panel, it is not necessary to separately secure a space for displaying an image in an operation room, unlike the case where a monitor television is provided. The video signal from the camera is
It suffices to join the signal transmission path that has already been extended from the casing driver to the operation room for the operation state display by the operation state display means, so that it is not necessary to provide a new dedicated monitor cable. Therefore, it is possible to prevent the complexity of the wiring work from increasing.

(2) In the above (1), preferably,
The camera includes, as a predetermined portion of the casing driver, a first joint for supplying hydraulic oil to a hydraulic cylinder provided on the rotating body and operating the casing gripper, and a first joint for the lifting frame. It is arranged so as to be able to capture the vicinity of a disengagement position with a second joint connected to a hydraulic pressure source that is detachably provided. On one display screen.

(3) In the above (1) or (2), preferably, the apparatus further comprises an operation room in which an operation panel having the touch panel is arranged, and a plurality of the at least one camera are provided. At least one of the plurality of cameras is arranged so as to be able to capture a blind spot area on the side of the casing driver that cannot be seen from the operation room, and the captured image is displayed on the touch panel. In at least one display screen.

(4) In the above (1), preferably, at least one switch means for operating an operation of the casing driver is arranged in a predetermined area in the at least one display screen of the touch panel.

Thus, the operation of the casing driver can be operated on the same screen as the screen displaying the video, and the operability is improved.

[0017]

An embodiment of the present invention will be described below with reference to the drawings. First, an example of a configuration of a casing driver to be operated according to the present embodiment is shown in FIGS. 2 and 3.
This will be described below. 2 is a top view showing the structure of the casing driver 2, FIG. 3 is a side view seen from the right side in FIG. 2, and FIG. 4 is a view showing a structure near a joint engaging / disengaging mechanism (described later) in FIG. FIG. 5 is a top view of the structure in FIG. In addition, in each figure, for clarification of the configuration, the casing 10 to be press-fitted / pulled out is indicated by a two-dot chain line.

2 to 5, the casing driver 2 is held horizontally by adjusting hydraulically driven jacks 3 provided at four corners, and has a frame-like shape provided with guide frames 4a to 4d at four corners. A base frame 4, a ring-shaped elevating frame 5 mounted to be able to move up and down along guide frames 4a to 4d, and a hydraulic drive mounted between the elevating frame 5 and the base frame 4 to elevate the elevating frame 5 , A rotating body 8 mounted in the elevating frame 5 via bearings (not shown) so as to be rotated by two hydraulic motors 12, 12, and a rotating body 8. Casing 1
The band 9 has a casing gripping band 9 for gripping the band 0 and a hydraulic band cylinder 11 for opening and closing the band 9.

The jacks 3 are respectively expanded and contracted by driving a built-in jack cylinder (described later).

The band 9 has a substantially semicircular fixed band 9a fixed to the rotating body 8, and a pair of movable bands 9b attached to both ends of the fixed band 9a so as to be freely opened and closed about pivot shafts 14 and 15. , 9c, and both ends of the band cylinder 11 are connected by pins 16 and 17 between the distal ends of the movable bands 9b and 9c. That is, the movable bands 9b and 9c are opened and closed by the expansion and contraction of the band cylinder 11, whereby the casing 10 is chucked.

The rotating body 8 is configured such that a pinion (not shown) rotated by the hydraulic motor 12 meshes with a gear (same) attached to the rotating body 8. Hydraulic pipes 18 and 19 communicating with a bottom-side oil chamber (not shown) and a rod-side oil chamber (same) of the band cylinder 11 are provided on the outer periphery of the rotating body 8 by appropriate fixing members. It is installed over a range close to the entire circumference. The hydraulic pipes 18 and 19 have a pair of upper and lower joints (male type joints) 20 and 20 for supplying and discharging hydraulic oil.
20 are arranged at a plurality of positions in the circumferential direction at predetermined intervals, and one pair of any one of these joints 20 is:
Two joints (female joints in this example) 24 and 2 provided as a pair on the elevating frame 5 by the joint engaging and disengaging device 1 (however, only the position is shown in FIG. 2 to prevent complexity).
4 is connected.

The detailed structure of the joint engaging / disengaging device 1 will be described with reference to FIGS. 4 and 5, the joint disengaging device 1 includes a pair of left and right side brackets 25 fixed to the outer peripheral surface of the rotating body 8, a first plate 26 attached between the side brackets 25, 25, A guide 37 fixed to the frame 5 via a bracket 36,
A pair of upper and lower rods 35, 35 slidably penetrated and held in guide holes 38, 38 of the guide 37, and a second plate 33 fixed to the pair of upper and lower rods 35, 35. Have.

The first plate 26 fixes a cylindrical socket 28 at the center in the up-down direction,
The pair of joints 20, 20 are fixed. On both sides of the upper portion of the first plate 26, a rod-shaped hanger guide 27 is fixed so as to protrude by screwing its screw portion. The hanger guide 27 is inserted into a long hole (not shown) provided in the upper part of the side bracket 25 so as to be movable up and down, left and right, and is substantially immovable except for play in the axial direction of the joint. Have been.

Similarly to the hanger guide 27, a rod-shaped slide guide 29 is fixed to both sides of the center of the first plate 26 by screwing a screw portion. Each slide guide 29 is inserted into an elongated hole (not shown) provided in the upper part of the side bracket 25 so as to be movable up and down, left and right, and practically immovable except for play in the axial direction of the joint. Have been.

Further, a bracket 30 for supporting the first plate 26 is provided radially inward of the first plate 26. The bracket 30 includes side brackets 25 and 2.
5 and is fixedly attached to the outer peripheral surface of the rotating body 8 by bolts (not shown).

The hanger guide 27 is in contact with the bottom surface of the elongated hole, and the slide guide 29 is located in the middle of the elongated hole, whereby the first plate 26 is suspended by the hanger guide 27. It has become.

An elastic member (not shown) made of viscoelastic rubber is provided between the first plate 26 and the side bracket 25 so as to be inserted through the slide guide 29. This elastic material is used for the first plate 26.
Is positioned substantially at the center between the left and right side brackets 25, 25, and allows the first plate 26 to move to the left and right while performing a restoring operation to the center position.

On the other hand, the rotating body 8 is
The joints 24, 24 and the tapered guide 34 are fixed so that the pair of joints 20, 20 for supplying and discharging the pressurized oil on the side and the socket 28 are in opposing positions when they are stopped. I have. Thereby, the rods 35, 3
5, the second plate 33 and the joints 24, 24 are integrally formed.

The rods 35, 35 are slidably penetrated and held in guide holes 38, 38 of the guide 37, and constitute a part of a hydraulic pipe, each of which includes a hydraulic source (not shown), It is connected to the tank (the same) via the hydraulic hose (the same). The guide 37 is provided with a coupling hydraulic cylinder 39 for moving the second plate 33 toward and away from the first plate 26.

The tapered guide 34 has a tapered tip, and is engaged with the socket 28 immediately before the poppet portions (not shown) of the joints 20 and 24 come into contact with each other and inserted. , Protruding from the tip of the joint 24.

In such a joint disengaging device 1, the coupling hydraulic cylinder 39 is extended while the rotating body 8 is stopped such that the joints 20, 20 and the joints 24, 24 face each other, and the second plate 33 is extended. To the first plate 2
6, the taper guide 34 first moves the socket 2
8 and engages prior to the joints 20,24. At this time, the cylindrical portion of the socket 28 functions as a guide for the joints 20 and 24 in the forward direction. In this centering operation, the slide guide 29 and the hanger guide 27 move along the elongated holes while the elastic material is expanded and contracted, so that the axes of the joints 20 and 24 are aligned and joined. ing.

The basic operation of the casing driver 2 described above will be described below. In addition, all of these operations are based on the operation of the operator from the operation panel (the same) in the operation room (details will be described later) provided in the operation system of the present embodiment, and the power panel (the same) in the power unit (the same). same)
It is performed by being controlled by.

When the casing 10 is press-fitted by the casing driver 2, the hydraulic motor 12 is driven first, and any one of the three pairs of joints 20, 20 on the rotating body 8 side is used.
Is a pair of joints 24 provided on the lifting frame 5.
Are positioned so as to oppose to each other. Then, the joints 20, 20 and the joints 24,
24 is connected. And these joints 20, 20
Hydraulic oil is supplied to the band cylinder 11 via the joints 24, 24, and the band 9 is operated in the closing direction to chuck the casing 10 with the band 9. When the chucking is completed, the joints 20, 20 are separated from the joints 24, 24 again by the joint engaging / disengaging device 1. Thereafter, the thrust cylinder 6 is operated in the lowering direction of the elevating frame 5, and at the same time, the rotating body 8 is rotated by the hydraulic motor 12 together with the casing 10. As a result, the casing 10 has its own weight of the casing driver 2 or the weight of a weight (not shown) attached to the casing driver 2, and a mount (the same) on which the excavator (the same) is mounted and connected to the casing driver 2. Of the thrust cylinder 6 by one stroke. After that, the joints 20, 20 and the joints 24, 24 are again connected to face each other, hydraulic fluid is supplied to the band cylinder 11 via these, and the band 9 is operated in the opening direction to cause the casing 10 to open.
The lifting frame 5 is lifted by releasing the restraint by the band 9. Thereafter, the process returns to the connection of the joints 20, 20 and the joints 24, 24 and the chucking operation of the casing 10 described above, and the subsequent operations are repeated.

On the other hand, when the casing 10 is pulled out by the casing driver 2, the hydraulic motor 12 is first moved in the same manner as described above while the lifting frame 5 is at the lowest position.
Is driven, and any one of the three pairs of joints 20 of the rotating body 8 is positioned so as to face the pair of joints 24 provided on the lifting frame 5. Then, the joints 20, 20 and the joints 24, 24 facing each other are connected by the joint engaging / disengaging device 1. The band cylinder 1 is connected via the joints 20, 20 and the joints 24, 24.
1 is supplied with hydraulic oil, and the band 9 is operated in the closing direction to chuck the casing 10 with the band 9. After the chucking is completed, when the thrust cylinder 6 is operated in the ascending direction of the lifting frame 5, a lifting force is applied to the rotating body 8 together with the casing 10, and the rotating body 8 is lifted from the ground by one stroke of the thrust cylinder 6.
Thereafter, the operating oil is again supplied to the band cylinder 11 via the joints 20, 20 and the joints 24, 24, and the band 9 is operated in the opening direction to release the restraint by the band 9 of the casing 10, and the lifting frame 5 is lowered. Thereafter, the process returns to the chucking operation of the casing 10 described above, and the subsequent operations are repeated.

Here, as described above, the casing driver 2 is provided with four hydraulic actuators.
Thrust cylinders 6, band cylinders 11 for opening and closing the band 9, two hydraulic motors 12, four jacks 3
Four jack cylinders to drive each (described later)
And a hydraulic cylinder 39 for coupling.
These are all driven by pressure oil discharged from a hydraulic pump (same) driven by an engine (same) provided in a power unit (same) arranged in an operation site of the casing driver 2. FIG. 6 is a hydraulic circuit diagram conceptually showing these connection states.

In FIG. 6, a variable displacement type first pump 54a and a second pump 54b for mainly discharging pressure oil to the hydraulic motor 12 are provided in a power unit 52 provided as a power source of the casing driver 2, and a thrust. Cylinder 6, band cylinder 11, jack cylinder 53 for driving jack 3, and variable displacement third pump 5 for discharging hydraulic oil to hydraulic cylinder 39 for coupling
4c and a fourth pump 54d (the same) for discharging pressure oil to an operation system pilot pipeline (not shown), all of which are driven by the engine 51. An electromagnetic switching valve 61 for controlling the driving of the hydraulic motor 12 is provided in a pipeline between the first pump 54 a and the second pump 54 b and the hydraulic motor 12. Also, the third
In the pipeline between the pump 54c and the thrust cylinder 6, the band cylinder 11, the jack cylinder 53, and the coupling hydraulic cylinder 39, electromagnetic switching valves 62, 64 for controlling the driving of these actuators are provided.
65 and 66 are provided.

The pipeline 67 branched from the discharge pipeline of the second pump 54b joins the pipeline 60 extending from the third pump 54c to the thrust cylinder 6.
A thruster speed-up electromagnetic switching valve 68 is provided to communicate and shut off the thruster. When a thruster speed-up switch 111, which will be described later, is pressed, the electromagnetic switching valve 68 opens to communicate with the pipeline 67, so that in addition to the pressure oil from the third pump 54c, the second pump 54b Is also supplied to the thruster cylinder 6 to increase the speed of the operation of the thruster cylinder 6. When the thruster cylinder is accelerated, the electromagnetic switching valve 61b shown on the right side in FIG. 6 is in the neutral position, and the hydraulic oil from the second pump 54b is supplied only to the thruster cylinder 6, and the two hydraulic motors 12 and The pump 12 is driven only by the pressure oil supplied from the first pump 54a via the electromagnetic switching valve 61a shown on the left side in FIG.

Of the electromagnetic switching valves 61, 62, 64, 65, 66, 68 provided in such a hydraulic circuit, the electromagnetic switching valve 65 for controlling the driving of the jack cylinder 53 and the driving of the band cylinder 11 are controlled. The electromagnetic switching valve 64 to be controlled is provided in the main body of the casing driver 2 as shown in the overall system diagram in FIG. 7, and the remaining electromagnetic switching valves 61, 62, 66, 68 are provided in the power unit 52. ing. Solenoid switching valves 61, 62, 66, 68
The switching operation is controlled by a power board 56 provided in the power unit 52. That is, various sensors (an engine speed sensor, a pump discharge pressure sensor, and the like) are provided in the power unit 52, and the power panel 56 receives signals from these sensors, and outputs the detection results of the present embodiment. The data is transmitted to an operation panel 100 (detailed configuration will be described later) provided in an operation room 50 by the operation system.
In addition, the power panel 56 determines the rotation speed of the engine 51, the tilt angles of the pumps 54a to 54d, and the switching of the electromagnetic switching valves 61, 62, 66, and 68 based on an operation signal from the operation panel 100 by a known method. The control unit controls each unit to perform the operation specified by the operation signal.

The switching operation of the electromagnetic switching valves 64 and 65 is controlled by a control panel 55 provided in the casing driver 2. That is, various sensors (thruster stroke sensor, thruster pressure sensor, pilot pressure sensor, angle sensor, etc.) are provided in the casing driver 2 main body.
The control panel 55 receives signals from these sensors and transmits the detection result to the operation panel 100 via the power panel 56. Further, the control panel 55, based on the operation signal from the operation panel 100,
The switching of 65 and the like are controlled by a known method, and the operation instructed by the operation signal is performed by each unit.

The operation system according to the present embodiment is for operating the casing driver 2 having the above-mentioned system configuration.
0, the operation panel 100, and the ascending / descending frame 5 via a bracket 40, and the joint 2 shown in FIGS.
0 and 20 and a camera 41 arranged at a position where the engagement and disengagement states of the joints 24 and 24 can be photographed.

A video signal captured by the camera 41 is input to a control panel 55 as shown in FIG. 7, and further transmitted to the operation panel 100 via a power panel 56. Note that the operation itself of the camera 41 (including the start and end of photographing, and pan and zoom operations when a pan / zoom unit is provided).
On the contrary, the operation panel 5 is operated by an operation signal from the operation panel 100.
6. Control may be performed via the control panel 55.

Next, the configuration and functions of the operation panel 100 will be described.

FIG. 8 is a front view showing the entire structure of the operation panel 100. 8, the operation panel 100 includes a touch panel 106 for displaying characters and figures stored in advance on a screen.
As mechanical switches disposed below the vicinity of 6, an emergency stop switch 101, an operation power switch 102, a casing turning operation lever 103, a coupling joint operation lever 104, and a casing thrust operation lever 105 are provided. .

The emergency stop switch 101 is for performing an emergency stop, and when pressed, the engine is stopped by a known engine control method. The operation power switch 102 is for turning on / off the power of the operation panel 100, and the operation of the touch panel 106 can be performed by turning on the switch. The casing turning operation lever 103 drives the rotating body 8 to operate turning (forward rotation / reverse rotation) of the casing 10. When the lever is tilted, the turning is started in a direction corresponding to the tilted position. It has become. The coupling joint operating lever 104 is used to connect and disconnect the joints 20, 20 and the joints 24, 24 by the joint engaging / disengaging device 1 described above. That is, at the time of connection, after operating the fixed position stop switch 118 to be described later to make the joints 24, 24 face the joints 20, 20, the operation lever 104 is set to the "connection" position, thereby enabling the above-described coupling. The hydraulic cylinder 39 is extended, and the connection between the joints 20, 20 and the joints 24, 24 is performed.
The band / joint status display 122 described later is “connection”.
When the connection is completely completed, the band opening / closing / stop switches 112, 113, and 114, which will be described later, cause the band cylinder 11 to expand or contract, and the band 9 to close and open. Further, at the time of disconnection, the joints 20, 20 and the joints 24, 24 are separated by setting the operation lever 104 to the "disconnect" position.

The casing thrust operation lever 105 is
By tilting the lever, the four thrust cylinders 6 expand and contract, and the lifting frame 5 moves up and down. The above-mentioned switch and operation lever constitute a part of switch means for operating the operation of the casing driver 2.

The touch panel 106 displays characters and graphics stored in advance on the screen, and can freely switch between a display area and a display screen by a contact operation of a fingertip. In FIG. 8, the operation power switch 102 is
9 shows a main screen which is a main screen displayed immediately after setting N.

FIG. 9 is an enlarged view showing a detailed configuration of the main screen. On the main screen of FIG. 9, as the operation state display means for displaying the operation state of the casing driver 2, a casing thrust lowering mode display 119, an abnormal pump pressure display 121, a band / joint state display 122, an engine state display 123, a vertical gauge 124, an engine speed display 125, and a thruster stroke display 126 are provided substantially in the upper half.

On the other hand, as the switch means for operating the operation of the casing driver 2, a work mode changeover switch 107, a power up switch 110, a thruster speed-up switch 111, a band opening / closing / stop switch 1
12, 113, 114, an all-turn switch 116, a swing switch 117, and a fixed-position stop switch 118 are provided substantially in the lower half. These switches constitute operation switches that can be operated by a contact operation of a fingertip.

The work mode changeover switch 107 is for switching between an "excavation" mode used for performing excavation work and a "pull-out" mode used for performing extraction work.

The power-up switch 110 is used in an emergency, for example, when the casing 10 cannot be pulled out. The thrust force is increased.
That is, although not particularly shown in FIG.
Relief valves are provided to branch off from the discharge pipes of the pump 54a, the second pump 54b, and the third pump 54c, and while the power-up switch 110 is pressed,
The relief pressure of these relief valves is increased by a relief pressure increasing means (not shown). As a result, a high pressure corresponding to the high load is applied to the hydraulic motor 12 and the thrust cylinder 6, and the turning torque and the thrust force increase.

When the thruster speed-up switch 111 is pressed, the switch is reversed and the above-mentioned electromagnetic switching valve 68 is opened to communicate with the pipeline 67 (see FIG. 6). In addition, the pressure oil from the second pump 54b is also supplied to the thruster cylinder 6, and the speed of the operation of the thruster cylinder 6 is increased.

Band opening / stopping switches 112 and 11
Reference numerals 3 and 114 denote a switch for operating the closing operation of the band 9, a switch for stopping the opening and closing operation, and a switch for operating the opening operation, respectively. That is, when the switch 112 is pressed, the switch display is reversed and the band cylinder 11
When the band 9 closes due to the contraction operation and the switch 114 is pressed, the switch display is reversed and the band cylinder 1
1 extends and the band 9 opens. Then, if the switch 113 is pressed during these operations, the operation is interrupted.

Full swing switch 116 and swing switch 1
Reference numeral 17 denotes a switch for selecting a turning mode of the casing 10. That is, when the full swing switch 116 is pressed,
The electromagnetic switching valves 61a and 61b are switched to the right position or the left position in FIG. 6, and the casing 10 is always turned in one direction. When the swing switch 117 is pressed, the electromagnetic switching valves 61a and 61b are alternately switched between a right position and a left position in FIG. 6 at a predetermined cycle, and the casing 10 is repeatedly inverted at a predetermined cycle. The selected switch is highlighted.

The fixed position stop switch 118 controls the rotation of the rotating body 8 to be automatically stopped when any one of the three pairs of joints 20, 20 is substantially opposed to the joints 24, 24. . In other words, when the switch is pressed while the casing 10 is rotating (fully turning), the switch is displayed in reverse, and the electromagnetic switching valves 61a and 61b are switched to the neutral position in FIG. It stops at the position where the joints 20, 20 and the joints 24, 24 face each other. Further, when turning again after stopping, it is possible to return the casing turning operation lever 103 to the neutral state once and to tilt the lever in the direction to turn. It is sufficient that the switching timing of the electromagnetic switching valves 61a and 61b is appropriately set by a known method or stored in advance.

Casing thrust lowering mode display 119
Indicates whether the lowering mode (described later) of the casing 10 is the pushing mode or the free lowering mode.

The pump pressure display 121 displays the pressure of each part in the power unit 52. That is,
“NO.1 PU pressure” and “NO.2PU pressure” respectively indicate when the casing 10 rotates (forward / reverse rotation) or swings.
The "NO.3 PU pressure" indicates the discharge pressure of the first pump 54a and the second pump 54b, and the "NO. 3 PU pressure" indicates the discharge of the third pump 54c when the band cylinder 11, the thrust cylinder 6, and the jack cylinder 53 are operating. It shows pressure. The "pilot pressure" indicates the discharge pressure of the fourth pump 54d (not shown) to the pilot line of the operation system. Further, “thruster expansion pressure” and “thruster compression pressure” respectively indicate an ascending pressure and a descending pressure of the thrust cylinder 6.

The band / joint state display 122 indicates the state of the band 9 and the joint engaging / disengaging device 1, and as shown in FIG. 9, indicates whether the band 9 is in the fully closed state or the open state. The joint engaging / disengaging device 1 indicates whether it is in a connected state or a disconnected (separated) state.

The engine status display 123 indicates that the engine 51
Indicates whether the vehicle is operating or stopped.

The vertical meter 124 indicates the inclination of the casing driver 2 main body. As shown in FIG. As for the display method, for example, with respect to the left-right inclination, a rightward decrease is displayed as a positive value, and a leftward decrease is displayed as a negative value.

The engine speed display 125 indicates that the engine 5
The number of revolutions of 1 is "idle", "common use", "highest"
It is displayed in a pattern.

The thruster stroke display 126 displays the thrust stroke of the casing 10.

In addition to the main screen, the touch panel 106 is used to set a thruster level adjustment screen for performing horizontal adjustment of the casing driver 2 main body, an auto idle, an engine speed, a swing angle, a thruster lowering mode, and the like. It is possible to switch to various screens such as a screen. For example, Japanese Patent Laid-Open No. 10-131661
Since the configuration is the same as that of the publication, detailed description is omitted. The screen can be switched from the main screen by using the screen changeover switches 127 and 128 at the upper left corner in FIG. 9, for example.

The touch panel 106 is provided with at least one auxiliary screen (window function) for switching a partial area of a certain screen, although not all such screens are switched. One of them is a video display window which is a main part of the present embodiment. This will be described below.

By pressing the "video display" switch 120 at the lower left of the main screen in FIG. 9, a video display window appears. FIG. 1 shows a main screen in which the video display window appears.

As shown in FIG. 1, the video display window 129 is a window for displaying the video captured by the camera 41 as it is, and displays the disengagement status of the joint disengagement device 1 on the touch panel 106. I have.
To close this window and return to the main screen, just press the X in the upper left corner.

As described above, when other operations of the camera 41 (photographing start / end, panning / zooming operations, etc.) can be operated, switches for instructing them are appropriately set in the video display window 129. It is enough if provided. Also,
It goes without saying that the entire image display window 129 may be enlarged or partially enlarged. Further, the captured image of the camera 41 is
When the video display switch 120 is depressed, instead of being displayed by the window interrupting the screen, the display may be switched to a single video display screen that spreads over the entire area on the touch panel 106 similar to the main screen.

Further, in the above embodiment, the image display window appears by pressing the "image display" switch 120 at the lower left of the main screen in FIG. 9, but the present invention is not limited to this. It may be linked with the switch 118. That is, while the casing 10 is rotating, when the switch 118 is pressed to stop the joints 20, 20 and the joints 24, 24 at the opposing positions, the video display window may automatically appear. .

FIG. 10 conceptually summarizes the main signal flow in the whole system as described above.
In FIG. 10 and FIG. 7 described above, detection signals from various sensors (such as a thrust cylinder stroke sensor) in the casing driver 2 main body and video signals from the camera 41 are provided in a control panel 55 of the casing driver 2 main body. Analog input port 55 with A / D conversion function
The signal is input to a CPU (central processing unit) 55b via a, and is further input to a CPU 56b provided in a power board 56. At this time, detection signals sent from various sensors (such as an engine speed sensor) provided in the power unit 52 are combined via an analog input port 56a provided in the power panel 56 and provided with an A / D conversion function. CP
It is input to U56b. These detection signals are sent to the touch panel 106 via a communication port (for example, a serial interface or the like) 100b of the operation panel 100, and are displayed in a predetermined manner on the operation state display means of the corresponding screen.

When the operator operates the mechanical switches 101 to 105 of the operation panel 100 or the switch means of the touch panel 106 according to the display, the digital input port 100a having the data selection function is opened from the mechanical switches 101 to 105. Operation signal from the touch panel 106 via the communication port 100b
The data is input to the CPU 56b in the power board 56, and predetermined control calculation processing is performed. Some of them are analog output ports 56c having a data selection function and a D / A conversion function.
Or a digital output port 56d having a data selection function
Through the pump controller / engine controller in the power unit 52 or the electromagnetic switching valves 61, 62, 66,
68. The CPU 56b in the power board 56
Is input to a CPU 55b provided in a control panel 55, and is subjected to a predetermined control calculation process. Then, a digital output port 5 having a data selection function is provided.
The signal is output to the electromagnetic switching valves 64 and 65 in the control panel 55 via 5c.

As described above, when other operations of the camera 41 (photographing start / end, pan / zoom operations, etc.) can be operated, the touch panel 106 for instructing them can be operated.
May be output from the CPU 55b to the camera 41 via an analog output port having a D / A conversion function, for example.

In the above description, the main screen shown in FIG. 9 constitutes at least one display screen of the touch panel, and the joints 20 and 20 are provided on the rotating body to apply pressure to the hydraulic cylinder for operating the casing gripper. The first for oil supply
And the joints 24, 24 are provided on the lifting frame so as to be disengageable from the first joint and connected to the hydraulic source.
Of the joint.

The operation at the time of engaging and disengaging the joint, which is a main part of the present embodiment configured as described above, will be described below.

The operator operates the joints 20 and 20 and the joint 2
When the user intends to connect the terminals 4 and 24, the main screen is displayed on the touch panel 106 of the operation panel 100 in the operation room 50, and the fixed position stop switch 118 (FIG. 9) in the main screen is displayed.
) To rotate the rotating body 8 with the joints 24, 24 and the joint 2
It stops at the position where 0 and 20 substantially oppose each other. However, as described above, this switch is provided with the electromagnetic switching valves 61a and 61b.
Is switched to the neutral position at a predetermined time and does not actually stop by detecting the positional relationship between the joints 20, 20 and the joints 24, 24. It is unclear whether they are in fact correctly facing each other.

Therefore, by pressing the image display switch 120 on the main screen of the touch panel 106, an image display window 129 is displayed on the main screen as shown in FIG. The state of disengagement of the joints 20, 20 and the joints 24, 24 is shown.
This allows the operator to view the operation panel 1 while watching the video.
By rotating the casing turning operation lever 103 (see FIG. 8) of FIG.
20 and the joints 24, 24 can be accurately positioned.

The joints 20, 20 and the joint 2
4 and 24, the operator operates the operation panel 100.
The connection lever 104 of the coupling
By setting the position, the hydraulic cylinder 39 for coupling is extended, and the joints 20, 20 and the joints 24, 24 are connected. Needless to say, the situation at this time can also be continuously viewed through the video display window 129. When this connection is completely completed, the band opening / closing / stop switches 112, 113, 114 on the screen are operated to perform the closing operation and the opening operation of the band 9.

As described above, according to the present embodiment, the operator can reliably perform the accurate positioning of the joints 20, 20 and the joints 24, 24 while watching the image in the operation room 50. Therefore, it is not necessary for an operator to enter the close distance of the casing driver for positioning as in the related art, so that safety can be ensured.

At this time, by displaying an image on the touch panel 106, it is not necessary to separately secure a space for displaying an image in the operation room 50 as in the case where a monitor television is provided in the operation room 50. Operation panel 1
It is not necessary to change the shape and structure of 00.

Further, as shown in FIG. 7, a newly required cable for transmitting the video signal from the camera 41 is sufficient from the camera 41 to the control panel 55 of the casing driver 2 and is newly provided to the operation room 50. There is no need to extend a dedicated cable for a special monitor. Therefore, it is possible to prevent an increase in the complexity of wiring work as compared with the case where a dedicated cable is extended from the camera 41 to the monitor television in the operation room 50.

In the above embodiment, as the joint engaging / disengaging device 1, the joint 2 shown in FIGS.
Although the description has been made of an example in which 0, 20 and the joints 24, 24 are linearly moved and disengaged, the present invention is not limited to this.
Other types of joint engaging and disengaging devices, such as those that rotate and disengage, may be used. In short, it is sufficient that the camera 41 is arranged so as to be able to photograph the disengagement situation, and in those cases, the same effect is obtained.

Further, in the above embodiment, only one camera 41 for photographing the engagement / disengagement state of the joint engagement / disengagement device 1 is provided, but the present invention is not limited to this, and a plurality of cameras may be provided. In other words, there are cases where other various operations and materials are carried in around the operation site of the casing driver 2, and if an operator enters a close distance of the casing driver, which is a large-sized machine having a rotating part, safety is increased. Since it is not preferable, when starting the operation of the casing driver 2, it is necessary to confirm that there are no workers around.

Here, as shown in FIG. 7, for example, an operation room 50 having an operation panel 100 and a casing driver 2 are provided.
When the operator in the operation room 50 visually confirms the casing driver 2 through the window 50a and confirms unattended surroundings, the main body is separated from the main body to some extent. On the opposite side, there may be a blind spot that cannot be seen from the operation room 50. Therefore, another camera capable of photographing the blind spot can be provided separately, so that the operator can perform the checking operation by using an image from the operation room 50. In this case, the blind spot photographing camera may be mounted on the casing driver 2, but may be mounted on a portion other than the casing driver 2 using a tripod or the like.

In this case, the display method on the touch panel 106 is, for example, a video display switch 120 on the main screen.
Separately, a second video display switch may be provided and depressed to interrupt and display in the same manner as the video display window 129. Further, the blind spot photographing video window and the above-described joint disengagement status video display window 129 may be mutually switched and displayed by a changeover switch separately provided on the touch panel 106, or both may be displayed on one screen. May be displayed simultaneously.

During the normal operation of the casing driver 2, a main screen having various switches is displayed on the touch panel 106. Therefore, the video display of the joint engagement / disengagement status by the camera 41 is displayed on the main screen in the form of a window ( Alternatively, it is preferable to display the image in the form of switching the screen from the main screen). However, if it is sufficient to confirm the blind spot image once before the operation of the casing driver 2 starts, it is possible to display the image regardless of the main screen. Good (ie, simultaneous display with various switches on the main screen is not always necessary). In these cases, a similar effect is obtained.

[0084]

According to the present invention, a predetermined portion of the casing driver is photographed by at least one camera, and the photographed image is displayed on at least one display screen of the touch panel. It is possible to reliably perform the positioning for engaging and disengaging the joint while securing the space, and to solve the problems of space restrictions in the operation room and troublesome wiring work.

[Brief description of the drawings]

FIG. 1 is a diagram showing a main screen with a video display window appearing on a touch panel of an operation panel provided in an embodiment of the present invention.

FIG. 2 is a top view illustrating an example of a configuration of a casing driver to be operated according to the present invention.

FIG. 3 is a side view as viewed from the right side in FIG. 2;

FIG. 4 is an enlarged view showing a structure near a joint engaging / disengaging mechanism in FIG. 3;

FIG. 5 is a top view of the structure in FIG. 4;

FIG. 6 is a hydraulic circuit diagram conceptually showing a connection state of an actuator and a hydraulic pump provided in the casing driver shown in FIG.

FIG. 7 is an overall system configuration diagram including an operation room, a power unit, and a casing driver.

FIG. 8 is a front view illustrating an entire structure of an operation panel provided in the operation system according to the embodiment of the present invention.

9 is an enlarged view showing a detailed configuration of a main screen shown in FIG.

FIG. 10 is a diagram conceptually summarizing the flow of main signals in the entire system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Joint attachment / detachment apparatus 2 Casing driver 4 Base frame 5 Elevating frame 6 Thrust cylinder 8 Rotating body 9 Band 10 Casing 12 Hydraulic motor 20 Joint (first joint) 24 Joint (second joint) 41 Camera 50 Operation room 100 Operation panel 103 Casing turning operation lever 104 Coupling joint operation lever 105 Casing thrust operation lever 106 Touch panel 107 Work mode changeover switch (switch means) 110 Power up switch (switch means) 111 Thruster speed-up switch (switch means) 112-114 Band opening / closing Stop switch (switch means) 116 Full swing switch (switch means) 117 Swing switch (switch means) 118 Fixed position stop switch (switch means) 119 Casein Thrust lowering mode display (operation state display means) 121 Pump pressure display (operation state display means) 122 Band / joint state display (operation state display means) 123 Engine state display (operation state display means) 124 Vertical gauge (operation state display means) 125 Engine speed display (operation status display means) 126 Thruster stroke display (operation status display means)

Claims (4)

[Claims] An elevating frame mounted on a base frame so as to be movable up and down by a thrust cylinder, a rotating body rotatably mounted on the elevating frame by a hydraulic motor, and a casing gripper attached to the rotating body. At least one operation state display means for displaying an operation state of the casing driver, at least one of a touch panel capable of displaying characters and graphics stored in advance on a screen and freely switching a display area and a display screen by a contact operation of a fingertip; In an operation system of a casing driver arranged in a predetermined area on one display screen, at least one camera for photographing a predetermined part of the casing driver is provided, and the photographed image is displayed on the at least one display screen of the touch panel. Displayed in Casing driver of the operation system according to claim. 2. The operating system for a casing driver according to claim 1, wherein the camera serves as a predetermined portion of the casing driver for supplying hydraulic oil to a hydraulic cylinder provided on the rotating body and operating the casing gripper. And a first joint and a second joint connected to a hydraulic pressure source and provided on the lifting frame so as to be disengageable from the first joint. ,
An operation system for a casing driver, wherein an image of the disengaged state is displayed on the at least one display screen of the touch panel. 3. The operation system for a casing driver according to claim 1, further comprising an operation room in which an operation panel having said touch panel is arranged, and wherein said at least one camera is provided in plurality. At least one of the plurality of cameras is disposed so as to be able to photograph a blind spot area on the side of the casing driver that is not visible from the operation room, and the photographed image is displayed on the touch panel. An operating system for a casing driver, wherein the operating system is displayed on at least one display screen. 4. The operating system for a casing driver according to claim 1, wherein at least one switch means for operating an operation of the casing driver is arranged in a predetermined area in the at least one display screen of the touch panel. An operating system for a casing driver.