JP2009280341A - Fixing attachment for crane, and installation base - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fixing attachment for a crane which is excellent in stability and safety, and suitable for various work such as measurement, examination, photographing, and inspection at a high place. <P>SOLUTION: An upper side of the fixing attachment 30 is fixed on an upper jib 10 at a distal end of a crane boom through a fixing plate 34 and a pair of arms 36, 38, and a lower side of the fixing attachment 30 is fixed to the upper jib 10 by a pair of fixing arms 50, 52, so that the installation base 80 is securely supported to the crane boom. Therefore, even if the installation base 80 is equipped with only driving arm 98 of one shaft, an installation table 82 can be finely and horizontally kept. As provided by using a structure which a crane distal end portion normally has, the fixing attachment 30 has high versatility and can be applied to various crane devices. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a fixed attachment for a crane and an installation base that are used when performing various types of measurements and photographing using a crane.

As what performs various measurement, imaging | photography, etc. using the conventional crane, there exist some which were disclosed by the following patent document, for example. In either case, the surveillance camera is suspended from the tip of the crane boom of the crane vehicle, and the crane operation is performed while photographing the lower part.
JP 2000-275725 A Utility Model Registration No. 3076631 No. 7-31645 Japanese Utility Model Publication No. 61-149475

  By the way, for taking pictures of landscapes and topography from high places, aerial photography using a helicopter or a balloon, for example, is common, but there is a problem that it is easily affected by vibration and wind, and it is very costly. It also takes. For this reason, a method of taking a picture from a high place using a crane can be considered. Buildings tend to be taller recently, but if you can see what kind of view you can get from the higher floors before building, increase the added value of the building, such as designing it with that in mind. Can do. A method using a crane is very effective for photographing such a view.

  On the other hand, interest in the environment has recently increased, and not only the ground surface, but also data such as nitrogen oxide concentration, pollen scattering amount, noise amount, temperature, humidity, and ultraviolet ray amount at high places are requested. For example, it is conceivable to collect data on the degree of air pollution on a higher floor of a building. Furthermore, requests for various measurements and inspections at high places, such as inspection of the condition of the outer wall of buildings, are expected to increase in the future.

  The present invention focuses on these points, is excellent in stability and safety, and is suitable for a fixed attachment for a crane when performing various measurements, inspections, photographing, inspections, etc. at high places and the like. The purpose is to provide an installed base.

  In order to achieve the above object, the present invention provides a fixed attachment for a crane that is used when a work device is attached to an upper jib at the tip of a crane boom, and is an arm main body provided to face downward in front of the upper jib. , First fixing means for fixing the upper part of the arm body to the upper jib, and second fixing means for fixing the lower part of the arm body to the upper jib, At least one of the first and second fixing means is fixed to the upper jib by a pin that crosses the upper jib.

  According to one of the main forms, the first fixing means is provided at an upper portion of the arm body, and is fixed to the upper jib by a pin that sandwiches the upper jib and crosses the upper jib. A pair of arms, and the second fixing means is provided at a lower portion of the arm main body, sandwiches the upper jib, and uses an existing fixture provided on a side surface of the upper jib. A pair of arms fixed to the jib.

  Another fixed attachment of the present invention is used when attaching work equipment to an auxiliary jib at the tip of a crane boom, and is a joint provided so as to face downward in front of the auxiliary jib, A front frame which is located on the front side and is suspended by a set of suspension arms provided in front of the front end of the auxiliary jib, a bottom frame provided below the auxiliary jib, and a rear side of the bottom frame And a pair of arms that sandwich the auxiliary jib and are fixed to the auxiliary jib by pins that cross the auxiliary jib.

  The installation base of the present invention is an installation base that is attached to a crane boom using any one of the above-described fixed attachments and installs necessary work equipment, with a horizontal direction as a rotation axis direction with respect to the fixed attachment. A base body provided rotatably, and an actuator provided between the base body and the fixed attachment for rotating the base body, wherein the actuator is attached to the base body. A drive device for driving is provided.

  One of the main forms is characterized in that, when the drive device includes a drive battery that cannot be tilted, the posture is maintained by the swing mechanism so that the drive battery does not tilt. In another aspect, the base body is maintained in posture by the actuator and the driving device, and the base body is provided with an installation table for maintaining the level. Alternatively, the posture of the base body is maintained by the actuator and the driving device, and an installation table for work equipment is provided so as to be displaceable in a desired direction with respect to the base body. The above and other objects, features and advantages of the present invention will become apparent from the following detailed description and the accompanying drawings.

  According to the present invention, since the fixed attachment is attached to the tip of the crane boom by the first and second fixing means, the work equipment can be favorably fixed and supported on the tip of the boom, and stability and safety that have not been achieved in the past can be achieved. Can be secured. Thereby, various measurements, inspections, photographing, inspections, and the like in high places can be performed satisfactorily.

  Hereinafter, the best mode for carrying out the present invention will be described in detail based on examples.

  First, Embodiment 1 of the present invention will be described with reference to FIGS. 1A is a perspective view of the main part of this embodiment, FIG. 1B is an enlarged view of a fixing pin, FIG. 2A is a perspective view showing only a fixing attachment, and FIG. It is a side view. In these drawings, two sheaves 12 and 13 (only 12 shown) are provided on the upper jib 10 at the tip of the crane boom, and two wires 14 and 15 (only 14 are shown) are provided on the sheave 12. ) Is suspended. A main hook 16 is suspended from the wire 14. The sheave 12 is fixed by a hollow pin 24 of a hollow provided in the axial direction thereof, that is, in a direction crossing the upper jib 10. On the other hand, a pair of left and right pin holes 20, 21 (only 20 shown) are provided on the lower side surface of the upper jib 10 for use in attaching the auxiliary jib to the boom tip. The structure of the above each part is well-known as a general crane apparatus.

  Next, in this embodiment, the fixed attachment 30 is attached in front of the above-described upper jib 10. More specifically, a fixing plate 34 is provided on the upper side of the arm main body 32 of the fixed attachment 30 so as to extend laterally. Further, a ring 35 for lifting the crane is provided on the upper surface of the fixed plate 34, and arms 36 and 38 formed in a substantially U shape or a hook shape when viewed from the side are provided on the side surface. It is fixed symmetrically. In the illustrated example, the arms 36 and 38 are fixed to the fixing plate 34 by means of bolts and nuts, but appropriate known means such as welding may be used. Pin holes 36A and 38A corresponding to the positions of the hollow pins 24 of the upper jib 10 described above are provided at the tips of the arms 36 and 38, respectively.

  On the other hand, fixed arms 50 and 52 are provided symmetrically on the lower side of the arm body 32 of the fixed attachment 30 so as to sandwich the arm body 32 from the side. The tips of the fixed arms 50 and 52 (right side in FIG. 1) protrude from the arm body 32, and the tips of the protruding portions are fixed by fixing pins 54. On the other hand, a stopper 56 is provided near the front center of the arm body 32, and a tension rod 58 is stretched between the stopper 56 and the fixing pin 54.

  The opposite side (the left side in FIG. 1) of the fixed arms 50 and 52 is formed to extend in the direction of the upper jib 10, and at the tip thereof, the upper jib 10 is sandwiched and the pin holes 20 and 21 on the side thereof are provided. The penetrating pins 60 and 62 that penetrate are provided.

  When the crane boom shown in FIG. 1 is substantially horizontal, the arm body 32 of the fixed attachment 30 extends downward from the upper jib 10. This is because, as shown in FIG. 3 described later, even when the crane boom is substantially vertical, the fixed attachment 30 can maintain a table described later in a favorable horizontal state.

  The fixed attachment 30 as described above is attached and fixed to the upper jib 10 by the following procedure, for example. First, the fixed attachment 30 is lifted by staking the ring 35 with a separately prepared crane (not shown). Then, the fixed attachment 30 is moved so that the through pins 60 and 62 at the tips of the fixed arms 50 and 52 on the lower side of the fixed attachment 30 enter the pin holes 20 and 21 on the side surface of the upper jib 10. Split pins 60A, 62A (only 60A is shown) are inserted into the through pins 60, 62 so as not to come out of the pin holes 20, 21. Next, the upper arms 36, 38 of the fixed attachment 30 sandwich the upper jib 10, and the pin holes 36A, 38A are aligned with the positions of the hollow pins 24 of the upper jib 10, so that the fixed pin 22 is connected to the pin holes 36A, 38A, inserted into the cavity of the hollow pin 24. Specifically, using a stepladder or the like, the fixing pin 22 is inserted by hand from the side in the order of the pin hole 38A, the hollow of the hollow pin 24, and the pin hole 36A. As shown in FIG. 1 (B), the fixed pin 22 has an enlarged diameter portion 22B that abuts the pin hole at one end, and is prevented from being pulled out by inserting the split pin 22A at the other end. It has become.

  Next, the installation base 80 that is attached to the tip of the above-described fixed attachment and installs the work equipment such as the camera will be described. In this embodiment, the installation base 80 has a function of maintaining the installation table 82 horizontally and a function of rotating. Various measuring devices, imaging devices, and the like are fixed to the installation table 82 using a plurality of holes 84 provided in the installation table 82. A base main body 90 incorporating a posture control device is provided behind the installation table 82, and a drive arm 98 is provided on the back thereof.

  Among these, the base body 90 is provided with a ring 89 for hanging a crane on the top surface, and further includes a radio device 92 and an antenna 93, an attitude control device 94, and a driving battery 95. The drive arm 98 includes an actuator such as a hydraulic mechanism. The wireless device 92 and the antenna 93 are for receiving a remote operation signal from the ground or the like. The attitude control device 94 performs control for keeping the installation table 82 horizontal at all times based on the signal received by the wireless device 92 or for extending and retracting the drive arm 98 to rotate the installation table 82. It has a function to perform control. When the installation table 82 is kept horizontal, posture control is performed using a known gyro mechanism or the like. That is, the horizontal displacement of the installation table 82 is detected, and the installation table 82 is kept horizontal by extending and contracting the drive arm 98 based on the detection result.

  Further, the driving battery 95 is installed on a swinging table 95B provided so as to be swingable with respect to a swinging shaft 95A provided horizontally in the base body 90, and the base body 90 rotates. However, the driving battery 95 is not inclined. Of course, when a tiltable battery 95 is used as the driving battery 95, a swinging mechanism using the swinging shaft 95A and the swinging base 95B is unnecessary.

  On the other hand, on the back side of the base main body 90, a joint 100 is provided that is coupled to the tip of the fixed attachment 30 by means of bolts and nuts or the like, and arms 102 and 104 are provided at the ends of the joint 100. ing. The upper side of the back surface of the base body 90 is rotatably supported at the tips of the arms 102 and 104 by a rotation shaft 106. The drive arm 98 described above is provided between the lower side of the back surface of the base body 90 and the joint portion 100. When the drive arm 98 expands and contracts, the base main body 90 and further the installation table 82 can rotate about the horizontal rotation shaft 106, and the fixed attachment 30 is expanded as the crane boom expands and contracts. The installation table 82 can be kept horizontal even if it rotates.

  The installation base 80 as described above is hung on the ring 89 by a crane (not shown) separately prepared, and the installation base 80 is lifted. And the front-end | tip of the junction part 100 and the front-end | tip of the arm main body 32 of the fixed attachment 30 previously set to the upper jib 10 of the crane boom front-end | tip are joined by a bolt and nut means. That is, first, the fixed attachment 30 is set at the tip of the crane boom, and then the installation base 80 is jointed to the fixed attachment 30.

  Next, the operation of this embodiment will be described with reference to FIG. The mobile crane 200 moves to a desired position and stops / fixes. Then, the fixed attachment 30 and the installation base 80 are sequentially attached according to the procedure described above. Next, the crane boom 202 is extended and its angle is adjusted. As shown in FIG. 3, when the angle of the crane boom 202 changes, the angle of the fixed attachment 30 also changes. In this case, if a wireless signal is transmitted so as to keep the installation table 82 horizontal, the wireless signal 92 is received by the wireless device 92 of the base main body 90, and the attitude control device 94 performs control to keep the installation table 82 horizontal. For this reason, the drive arm 98 comes to expand and contract according to the angle of the crane boom 202, and the installation table 82 is held horizontally.

  FIG. 4A shows an example in which the imaging device 310 is fixed on the installation table 82 as a work device in order to inspect the state of the outer wall surface 302 of the building 300. An imaging signal of the outer wall surface 302 by the imaging device 310 is wirelessly transmitted to a receiving side (not shown) and displayed on a monitor on the receiving side, or recorded and stored in a recording medium. FIG. 4B shows an example in which a turntable 330 is provided on the back side of the installation table 82 and a work device 332 such as a television camera or a gas sensor is attached to the turntable 330. By rotating the turntable 330 by remote operation, the direction of the work device 332 can be easily changed. For example, when the work device 332 is a television camera, the shooting direction can be changed by 360 degrees. Further, by remotely operating the base body 90 to extend and contract the drive arm 98, the installation table 82 can be rotated in the direction of the arrow in FIG. 4B, and by adding this and the movement of the turntable 330, In addition, shooting from various angles becomes possible.

  In this case, according to the present embodiment, the upper side of the fixed attachment 30 is fixed to the upper jib 10 at the tip of the crane boom via the fixed plate 34 and the pair of arms 36 and 38, and Since the side is fixed to the upper jib 10 by a pair of fixed arms 50 and 52, the installation base 80 is firmly supported by the crane boom 202. For this reason, even when the installation base 80 includes only the single-axis drive arm 98, the installation table 82 can be maintained in a good posture. It is also possible to perform a desired angle rotation from the horizontal. That is, since the fixed attachment 30 is provided using the structure that the crane tip part normally has, the versatility is high, and it can be applied to various crane apparatuses.

  Next, Embodiment 2 of the present invention will be described with reference to FIG. In the figure, (A) is a perspective view showing a state in which the fixed attachment of the present embodiment is attached to the auxiliary jib at the tip of the crane boom, and (B) is a perspective view showing only the fixed attachment. The first embodiment described above is an example in which a fixed attachment is attached to the upper jib at the tip of the crane boom. In the second embodiment, an auxiliary jib is provided at the upper jib at the tip of the crane boom, and the fixed attachment is attached to the auxiliary jib. It is.

  In FIG. 5, the fixed attachment 500 has a configuration in which a bottom frame 504 is provided on the lower rear side of the front frame 502. A ring 506 for lifting the fixed attachment 500 with a crane is provided on the top of the front frame 502. In addition, arms 510 and 512 are erected on the rear side of the bottom frame 504, and pin insertion holes 510A and 512A are provided near the tip. A contact frame 514 is attached in the bottom frame 504 so as not to loosen by contact with the auxiliary jib when attached, and a joint for attaching the installation base 80 described above is attached to the front side. A portion 516 is provided.

  On the other hand, the auxiliary jib 530 at the tip of the crane boom according to the present embodiment has a configuration in which a pair of suspension arms 532 and 534 protrudes from the front of the tip, and a pin hole 536 is provided near the center at the rear. It has become. In this example, the sub hook of the crane is removed.

  In the fixed attachment 500 of this embodiment, first, hooks of other cranes (not shown) are hung on the ring 506 of the front frame 502 to lift the fixed attachment 500, and the front frame is attached to the suspension arms 532 and 534 of the auxiliary jib 530. 502 is suspended. Next, the bottom frame 504 is lifted, and the holes 510A and 512A of both arms 510 and 512 and the pin holes 536 of the auxiliary jib 530 are aligned. And by attaching the pin 538 to them, the fixed attachment 500 is fixed to the auxiliary jib 530 at the tip of the crane boom. A split pin 538A is inserted into the pin 538 so as not to come off. Thereafter, the installation base 80 is attached to the joint portion 516 of the fixed attachment 500.

  According to the second embodiment, the front frame 502 is suspended on the suspension arms 532 and 534 of the auxiliary jib 530 and the arms 510 and 512 on the rear side of the bottom frame 504 are fixed to the auxiliary jib 530 with the pins 538. Therefore, the installation base 80 is firmly supported with respect to the crane boom. For this reason, even when the installation base 80 includes only the single-axis drive arm 98, the installation table 82 can be maintained in an excellent horizontal state or rotated at a desired angle from the horizontal as in the above-described embodiment. Is also possible.

  Next, Embodiment 3 of the present invention will be described with reference to FIG. First, the embodiment shown in FIG. 6A is an example in which a rotation mechanism 600 such as a motor is provided in front of the base body 90 of the installation base 80 described above, and a table 602 is provided on the rotation shaft. The table 602 is rotatable in the direction of arrow F6a in FIG. On the main surface of the table 602, an expansion / contraction mechanism 604 that can expand and contract in the direction of the arrow F6b is provided, and a work device 606 such as a camera is provided at the tip thereof. Note that the rotation mechanism 600 and the expansion / contraction mechanism 604 are remotely operated using the wireless device 92, and drive control is performed by the attitude control device 94. The same applies to the following examples.

  FIG. 6B shows a preferred use example of this embodiment. When there is an obstacle 610 in the vicinity of the building 300 and the crane 200 cannot be installed on the front side of the building 300 as shown in FIG. 4, the side of the building 300 as shown in FIG. 6 (B). The crane vehicle 200 is installed. Then, the crane boom 202 is extended to adjust its angle, the table 602 is rotated, and the telescopic mechanism 604 is extended so that the work device 606 faces the direction of the outer wall 302 of the building 300. Thereby, the appearance of the outer wall surface 302 can be photographed.

  Next, Example 4 will be described with reference to FIG. As shown in FIG. 5A, a rotating mechanism 620 such as a motor is provided on the lower surface of the base body 90 of the installation base 80, and a table 700 that rotates in the direction of arrow F7a is provided on the rotating shaft. . A rotation mechanism 702 is provided at the tip of the table 700, and a table 704 is provided on the rotation shaft. The table 704 rotates in the direction of arrow F7b. FIG. 7B shows an example of a rotated state, in which the table 700 is in a position rotated in a horizontal plane with respect to the base main body 90 held in a horizontal posture by the drive arm 98. The table 704 rotates and is substantially vertical. If the table 704 is rotated 180 degrees, the front and back are reversed. As in this example, various actuators such as a rotation mechanism and an expansion / contraction mechanism may be provided as necessary.

In addition, this invention is not limited to the Example mentioned above, A various change can be added in the range which does not deviate from the summary of this invention. For example, the following are also included.
(1) In the above-described embodiment, the installation base is provided at the tip of the fixed attachment, but this does not preclude the direct attachment of a measuring device or a photographing device instead of the installation base. Even when a measuring instrument or the like is attached to the installation base, the attachment position may be a desired position. In this case, a weight may be provided at the opposite position in order to balance.
(2) In the above embodiment, the present invention is applied to a so-called self-propelled crane vehicle, but it can also be applied to a non-self-propelled crane.
(3) A projector or the like may be installed on the fixed attachment or the installation base for photographing at night or the like.
(4) Although the main hook 16 of the crane is left attached in the first embodiment, it may be removed as in the second embodiment.
(5) Proximity sensors may be provided at appropriate locations such as the table tip of the installation base so that the table or the like does not hit the building.
(6) As the work equipment, various devices such as various types of measurement, inspection, photographing, and inspection can be applied. Further, when the work equipment is attached, a rotation mechanism, a slide mechanism, a remote operation means, a posture control means, and the like may be provided as necessary.
(7) In place of the mechanism of each part shown in the above-described embodiment, it does not preclude the application of a known mechanism having the same action. For example, the attachment part shape of the fixed attachment to the crane boom tip is appropriately changed according to the structure of the crane boom tip.
(8) In the above embodiment, the drive battery 95 is kept horizontal by the swing device, but the base body 90 in which the drive battery 95 is accommodated is expanded and contracted by the posture control device 94. By always maintaining a desired posture, the drive battery 95 can be prevented from tilting even if the swing mechanism is omitted, and the drive battery 95 can be directly installed on the base body 90.
(9) It does not preclude attaching a plurality of measuring devices and photographing devices to the tip of the crane boom. For example, an imaging device is provided on the base body 90 whose posture is controlled, and various sensors are provided on a table that can be displaced by a drive mechanism. Since the posture of the base body 90 is maintained constant, the imaging device can ensure a predetermined field of view. The table is displaced within this field of view, and various sensors are set at desired positions.
(10) As shown in the above embodiment, it is particularly suitable for various measurements at high places, etc., but it does not preclude measurements at low places by extending the crane boom in a substantially horizontal direction. . For example, taking a picture of a landscape seen from below a cliff is an example.

  According to the crane fixing attachment of the present invention, it is possible to firmly fix work instruments such as various measuring instruments and imaging devices, and to perform various measurements and inspections at high places while ensuring stability and safety. Suitable for fields such as photography.

(A) is a perspective view which shows the principal part of Example 1 of this invention, (B) is an enlarged view which shows the pin for fixing. (A) is a perspective view which shows only the fixed attachment of Example 1, (B) is a side view of FIG. 1 (A). It is explanatory drawing which shows the operation | movement of the said Example 1. FIG. It is explanatory drawing which shows the usage type of the said Example 1. FIG. (A) is a perspective view which shows the principal part of Example 2 of this invention, (B) is a perspective view which shows the fixed attachment of Example 2. FIG. It is a figure which shows Example 3 of this invention. (A) is a perspective view which shows the principal part of an example of Example 3, (B) is a perspective view which shows an example of the use condition of (A). It is a figure which shows Example 4 of this invention. (A) is a perspective view which shows the principal part of an example of Example 4, (B) is a perspective view which shows an example of the use condition of (A).

Explanation of symbols

10: Upper jib 12: Sheave 14: Wire 16: Main hook 20: Pin hole 22: Fixing pin 22A: Split pin 22B: Expanded portion 24: Hollow pin 30: Fixing attachment 32: Arm body 34: Fixing plate 35: Ring 36, 38: Arm 36A, 38A: Pin hole 50, 52: Fixed arm 54: Fixed pin 56: Stopper 58: Tension rod 60, 62: Through pin 60A, 62A: Split pin 80: Installation base 82: Installation table 84 : Hole 89: Ring 90: Base main body 92: Radio device 93: Antenna 94: Attitude control device 95: Driving battery 95A: Oscillating shaft 95B: Oscillating base 98: Driving arm 100: Joint 102, 104: Arm 106 : Rotating shaft 200: crane vehicle 202: crane boom 300: building 302: outer wall surface 310: imaging device 330: turntable 332: Work device 500: Fixed attachment 502: Front frame 504: Bottom frame 506: Ring 510, 512: Arm 510A, 512A: Hole 514: Abutting frame 516: Joint 530: Auxiliary jib 532, 534: Suspension arm 536: Pin hole 538: Pin 538A: Split pin 600: Rotating mechanism 602: Table 604: Telescopic mechanism 606: Work device 610: Obstacle 620: Rotating mechanism 700: Table 702: Rotating mechanism 704: Table

Claims (7)

A fixed attachment for a crane used when attaching work equipment to the upper jib at the tip of the crane boom,
An arm body provided to face downward in front of the upper jib,
First fixing means for fixing the upper part of the arm body to the upper jib;
Second fixing means for fixing the lower part of the arm body to the upper jib;
With
A crane fixing attachment, wherein at least one of the first and second fixing means is fixed to the upper jib by a pin crossing the upper jib. The first fixing means is a set of arms provided on an upper portion of the arm main body, sandwiched by the upper jib and fixed to the upper jib by a pin crossing the upper jib,
The second fixing means is provided at a lower portion of the arm main body, sandwiches the upper jib, and is fixed to the upper jib with an existing fixture provided on a side surface of the upper jib. Arms,
The crane fixed attachment according to claim 1. A fixed attachment for a crane used when attaching work equipment to an auxiliary jib at the tip of a crane boom,
A joint provided to face downward in front of the auxiliary jib,
A front frame that is located on the front side of the auxiliary jib and is suspended by a set of suspension arms provided at the front end of the auxiliary jib;
A bottom frame provided on the lower rear side of the auxiliary jib,
A pair of arms which are provided on the rear side of the bottom frame and sandwich the auxiliary jib and are fixed to the auxiliary jib by pins crossing the auxiliary jib;
A fixed attachment for a crane, comprising: An installation base that is attached to a crane boom using the fixed attachment according to any one of claims 1 to 3 and installs necessary work equipment,
A base body that is pivotable relative to the fixed attachment, with a horizontal direction as a pivot axis direction;
An actuator provided between the base body and the fixed attachment for rotating the base body;
With
An installation base characterized in that a driving device for driving the actuator is provided in the base body.   5. The installation base according to claim 4, wherein, when the drive device includes a drive battery that cannot be tilted, the installation base is held by a swing mechanism so that the drive battery does not tilt. The base body is maintained in posture by the actuator and the driving device,
The installation base according to claim 4, wherein the base body is provided with an installation table for maintaining the level. The base body is maintained in posture by the actuator and the driving device,
The installation base according to claim 4, wherein an installation table for work equipment is provided so as to be displaceable in a desired direction with respect to the base body.

Images