JP2023167054A - Safety apparatus of gripping-type pole construction truck - Google Patents

Abstract

To provide a safely apparatus of a gripping-type pole construction truck capable of safely working regardless of the gripping position of an object.SOLUTION: A safety apparatus of a gripping-type pole construction truck comprise a derricking cylinder 16 for derricking a boom, an arm cylinder 55 to make an arm vertically oscillate with respect to a boom tip, a vertical oscillating cylinder 62 to make a gripping part vertically oscillate with respect to an arm tip, a moment calculation part 103 to calculate the moment around an arm oscillating fulcrum in the gripping state of an object due to the gripping part, and a regulation part 105 to regulate the actuation of the vertical oscillating cylinder 62 when the calculated moment in the moment calculation part 103 exceeds a preset regulation moment.SELECTED DRAWING: Figure 9

Description

TECHNICAL FIELD The present invention relates to a safety device for a grip-type excavating pole-erecting vehicle, which is equipped with a grip portion for gripping a columnar object such as a utility pole.

As a hole-drilling pole-erecting vehicle, which is one of the working vehicles, it has a swivel base installed on the vehicle body so that it can rotate freely, a boom that is installed on the swivel base so that it can move up and down, and extend and retract, and a pole that is attached to the boom. A grasping-type drilling and pole-erecting vehicle is known, which is equipped with an auger device for digging a hole for erecting a pole, and a gripping device installed at the tip of the boom to grip a pole-like object such as a utility pole. (For example, see Patent Document 1). When excavating a post hole in the ground using this grip-type hole-pole-erecting vehicle, the auger device is suspended from the tip of the boom, and the boom is operated appropriately, and the auger device is used to perform the specified digging. By rotating it at a certain position, a post hole of a predetermined depth can be formed. After completing the excavation of the pole hole, the auger device is pulled up and stored on the side of the boom, and the utility pole is grasped by the gripping section provided on the gripping device that can be opened and closed, and the boom is raised while the utility pole is being grasped. By appropriately operating the pole, it is possible to directly erect the utility pole into the excavated pole hole. These gripping-type digging pole erecting vehicles can perform a series of pole erecting operations more efficiently than when lifting utility poles using winches or cranes. There is.

Japanese Patent Application Publication No. 2-81892

Here, when gripping a telephone pole (long object) with the gripping part of the gripping device, it is desirable to grip the center of gravity of the telephone pole. However, since it is not easy for a worker to visually identify the center of gravity of a utility pole, the position where the gripper grips the utility pole may deviate from the center of gravity. At this time, when the gripping section is activated to rotate the direction of the utility pole, the weight of the utility pole generates an excessive moment around the tip of the boom, and the overload damages structures such as the gripping device. There was a problem that there was a risk of

The present invention has been made in view of the above problems, and an object of the present invention is to provide a safety device for a grip-type digging and pole-erecting vehicle that allows work to be carried out safely regardless of the gripping position of the object. .

In order to solve the above-mentioned problems, a safety device for a grip-type hole-pole construction vehicle according to the present invention includes a boom provided on the vehicle body so as to be movable up and down; an arm that is swingably provided; a grip that is swingably provided at the tip of the arm so that it can grip a target object; and a boom undulation actuator that moves the boom up and down. , an arm actuator that swings the arm along the undulating surface with respect to the tip of the boom, and a gripping part actuator that swings the gripping part along the undulating surface with respect to the tip of the arm. , a moment detection unit that detects a moment acting around a swing fulcrum of the arm when the object is gripped by the gripping unit; and a moment detected by the moment detection unit exceeds a preset regulation moment. The gripping part actuator is characterized in that it includes a regulating part that sometimes regulates the operation of the gripping part actuator.

In the safety device for a grip-type hole-drilling pole-erecting vehicle having the above configuration, it is preferable that the regulating section also regulates the operation of the boom hoisting actuator when the moment detected by the moment detecting section exceeds the regulating moment. .

Further, the safety device for a gripping type hole-pole erecting vehicle configured as described above further includes an inclination angle detection section that detects an inclination angle of the gripping section with respect to a horizontal plane, and the regulating section is arranged such that the moment detected by the moment detection section is When the regulation moment is exceeded, based on the detection information of the inclination angle detection section, the gripping part actuator is allowed to operate to swing the gripping part in a direction in which the inclination angle becomes smaller, and the inclination angle becomes larger. Preferably, the operation of the gripping part actuator that swings the gripping part in the direction is restricted.

According to the safety device for a grip-type hole-pole construction vehicle according to the present invention, when the moment around the swing fulcrum of the arm exceeds a preset regulation moment, the operation of the grip cylinder is restricted. Regardless of the gripping position of the object (telephone pole), the gripping part can swing properly and safely, which prevents structures such as the arm and gripping part from being damaged due to excessive moment generation. It is possible to prevent this from happening and improve work safety.

In addition, in the safety device for the gripping type drilling pole erection vehicle according to the present invention, when the moment around the swinging fulcrum of the arm exceeds a preset regulation moment, the gripping cylinder is activated and the boom hoisting cylinder is activated. By regulating this, it is possible to reliably prevent structures such as arms and grips from being damaged due to the generation of excessive moments, thereby further improving work safety.

In addition, in the safety device for the gripping-type hole-pole construction vehicle according to the present invention, if the moment around the swinging fulcrum of the arm exceeds the regulation moment, the device is erroneously operated in an unsafe direction (direction in which the moment increases). If the gripping cylinder does not operate even when the gripping cylinder is operated, and the gripping cylinder operates only when the operation is performed in a safe direction (direction in which the moment decreases), the moment reaches the regulating moment and the operation restriction is activated. However, the operator can swing the grip part safely without getting stuck (because it is easier to perform immediate operations when the operation restriction is activated), achieving both safety and work efficiency. Is possible.

FIG. 2 is a side view of the gripping type digging and pole-erecting vehicle according to the present embodiment. FIG. 3 is a plan view of the above-mentioned gripping type digging and pole-erecting vehicle. It is a side view which shows the use state of the said grip-type hole-drilling pole-erecting vehicle. It is a perspective view of the gripping device provided in the above-mentioned gripping type digging and pole-erecting vehicle. It is a perspective view of the main part of the above-mentioned grasping device seen from the right. It is a perspective view of the main part of the above-mentioned grasping device seen from the left. FIG. 3 is a cross-sectional view of the gripping device. It is a longitudinal cross-sectional view of the above-mentioned gripping device. FIG. 3 is a functional block diagram of the above-mentioned gripping type digging and pole-erecting vehicle. It is a perspective view showing the state where the above-mentioned grasping device grasped a utility pole. FIG. 6 is a schematic diagram for explaining a restricting direction and a permissible direction of vertical swinging operation of the gripping device. FIG. 3 is a perspective view showing a state in which the gripping device grips a utility pole at a position away from the center of gravity.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the overall configuration of the gripping type digging and pole-erecting vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 to 3.

As shown in FIG. 1, the gripping type digging pole construction vehicle 1 is a truck that has a driving cabin 7 at the front of the vehicle body 2 and can run on a pair of left and right tire wheels 5 disposed at the front and rear of the vehicle body 2. It is constructed based on a vehicle. Jacks 9 for lifting and supporting the vehicle body 2 are provided at four locations on the front, rear, left and right sides of the vehicle body 2. Each jack 9 lifts and supports the vehicle body 2 by driving a jack cylinder (not shown) provided therein to extend downward, thereby stabilizing the entire vehicle body 2. The jack 9 is operated by operating a jack operating device (not shown) provided at the rear of the vehicle body 2.

In a mounting area of the vehicle body 2 behind the driving cabin 7, a swivel base 12 is provided which is driven by a swivel motor 14 (see FIG. 9) and configured to be horizontally swiveling around a vertical axis. A base end portion of a boom 13 is attached to the swivel base 12 so as to be swingable (up and down) in the vertical direction.

The boom 13 has a configuration in which a base end boom 13a, an intermediate boom 13b, and a tip boom 13c are nested together in order from the swivel base 12 side, and a telescopic cylinder 15 (see FIG. The boom 13 can be extended and contracted in the axial direction (longitudinal direction) by the telescopic drive shown in (see). Furthermore, a hoisting cylinder 16 is provided between the base end boom 13a and the swivel base 12, and by driving the hoisting cylinder 16 to expand and contract, the entire boom 13 can be moved up and down in the upper and lower planes (vertical planes). can be done.

An auger device 20 for excavating a post hole is attached to the boom 13 via an auger support 17 that can be selectively connected to the base end boom 13a and the distal end boom 13c. The auger device 20 includes an auger motor 21 with a reduction gear, and an earth auger 22 that is rotated around an axis by driving the auger motor 21 to rotate. Further, an auger storage device 18 that holds the auger device 20 in a stored state is disposed on the side surface of the base end boom 13a. The auger device 20 is attached to the auger support 17 so as to be able to swing up and down in a vertical plane, and has two positions: a storage position where the auger device 20 is stored along the side of the base end boom 13a by the auger storage device 18, and a storage position where the auger device 20 is stored along the side of the base end boom 13a. The device 20 can be removed from the auger storage device 18 and oscillated between a working position in which the earth auger 22 is substantially perpendicular to the ground.

When using the auger device 20, as shown in FIG. With the earth auger 22 in a substantially perpendicular position to the ground, the earth auger 22 is rotated and the boom 13 is moved linearly downward by interlocking the lodging and retracting movements. excavation work is possible. On the other hand, when the auger device 20 is not in use, as shown in II of FIG. Store and hold in the storage position along the line. When the auger device 20 is in the retracted position, a gripping device 50, which will be described later, is used to perform various tasks such as erecting utility poles (indicated by symbol P in FIG. 3; the same applies hereinafter) and relocating obstacles. It is now possible to do so.

A boom head 19 is fixed to the tip of the tip boom 13c. A gripping device 50 is attached to the boom head 19 to grip an object (column-shaped object) such as a utility pole P or a tree. The configuration of this gripping device 50 will be explained with additional reference to FIGS. 4 to 8. Note that in FIGS. 7 and 8, hatching indicating the cross section is omitted to make the figures easier to read. Further, for convenience of explanation, the directions of the front and rear, left and right, and up and down arrows shown in the drawings will be referred to as the front and back direction, the left and right direction, and the up and down direction in the following description based on the posture of the gripping device 50 shown in FIG. 4.

The gripping device 50 includes an arm 51 attached to the boom head 19 so as to be swingable in the vertical direction (bend and extend), and a first arm 51 attached to the tip of the arm 51 so as to be swingable in the vertical direction (swing). A joint member 60, a second joint member 70 attached to the first joint member 60 so as to be swingable in the left-right direction (lateral swing), and a gripper 80 attached to the second joint member 70 so as to be rotatable. It consists of In this embodiment, the posture of the gripping part 81 of the gripper 80 is controlled by the arm 51, the first joint member 60, the second joint member 70, a vertical swing cylinder 62, a horizontal swing cylinder 71, a gripper motor 79, etc., which will be described later. A support mechanism is configured to change the

One end of the arm 51 in the axial direction (longitudinal direction) is pivotally connected to the boom head 19 via a connecting pin 52, and the other end in the axial direction (longitudinal direction) is connected to the first joint member 60 via a connecting pin 53. It is pivotally connected to. An arm cylinder 55 is attached between the boom head 19 and the first joint member 60. The rod side end of the arm cylinder 55 is pivotally connected to the boom head 19 via a connecting pin 56. The bottom end of the arm cylinder 55 is pivotally connected to the first joint member 60 via a connecting pin 57. By extending and contracting this arm cylinder 55, the arm 51 is configured to be able to swing vertically (flexibly extend and move) relative to the boom head 19 about the connecting pin 52.

The first joint member 60 is formed into an upper and lower bifurcated shape with an open end side, and a second joint member 70 is pivotally connected to both ends of this bifurcated shape via a pair of upper and lower connecting pins 61. A vertical swing cylinder 62 is provided between the first joint member 60 and the arm 51. The bottom end of the vertical swing cylinder 62 is pivotally connected to the proximal end of the arm 51 via a connecting pin 63. The rod-side end of the vertical swing cylinder 62 is pivotally connected to the upper end of the first joint member 60 via a connecting pin 64. By expanding and contracting the vertical swing cylinder 62, the first joint member 60 is configured to be able to swing vertically (freely swing vertically) relative to the arm 51 around the connecting pin 53.

The second joint member 70 is supported by the first joint member 60 so as to be sandwiched from above and below. Further, a lateral swing cylinder 71 is provided at the upper end of the first joint member 60. The horizontal swing cylinder 71 has a bottom side end pivotally connected to the tip of the first joint member 60 and a rod side end pivotally connected to the rear end of the second joint member 70 . By expanding and contracting this horizontal swing cylinder 71, the second joint member 70 is configured to be able to swing freely in the left and right directions (sideways swing freely) with respect to the first joint member 60 around the connecting pin 61. .

The gripper 80 includes a grip part 81 that grips an object, a gripper housing 86 that supports the grip part 81 and is rotatably provided on the second joint member 70, and an opening/closing mechanism 93 that opens and closes the grip part 81. Prepared and configured.

The grip portion 81 includes a pair of grip claws 82 and a pair of upper and lower support plate portions 83 that support the pair of grip claws 82 so as to be openable and closable in directions toward or away from each other (opening/closing directions). The gripping claws 82 are configured to be able to grip various objects (columnar objects), such as utility poles P and trees. The base end portion of the gripping claw 82 is pivotally connected to the upper and lower support plate portions 83 via a connecting pin 84. Cutouts 82a and 82b are formed alternately at the tip of the gripping claw 82, and the tips are configured to be able to intersect (overlap) with each other. The support plate portion 83 is provided with a flat upper bracket 85 to which an attachment (not shown, for example, a cutting device for cutting down a tree) is removably attached.

The gripper housing 86 is connected to the upper and lower support plate parts 83 and is connected to the second joint member 70.
a cylinder bracket part 92 fixed to the base end side of the support cylinder part 87 and arranged between the first joint member 60 and the second joint member 70; It is equipped with

The support cylinder part 87 has two parts, an inner cylinder part 88 formed in the shape of a hollow rectangular cylinder, and an outer cylinder part 89 provided on the outer peripheral side of the inner cylinder part 88 and formed in the shape of a hollow cylinder. It has a heavy structure. A sliding member 95 of an opening/closing mechanism 93, which will be described later, is attached to the inner peripheral side of the inner cylindrical portion 88 so as to be slidable in the front-rear direction. A worm wheel 90 is attached to the outer periphery of the outer cylindrical portion 89 so as to be concentric with the outer cylindrical portion 89 . This worm wheel 90 meshes with a worm pinion 91 rotatably supported inside the second joint member 70. A gripper motor 79 is attached to the upper end of the second joint member 70, and a worm pinion 91 is connected to the output shaft of the gripper motor 79 via a speed reducer. When the gripper motor 79 is rotated in the normal rotation direction, the entire gripper 80 is rotated in a predetermined direction about the rotation axis X (see FIG. 7) via the worm pinion 91 and the worm wheel 90. On the other hand, when the gripper motor 79 is rotated in the reverse direction, the entire gripper 80 is rotated in a direction opposite to the predetermined direction about the rotation axis X (see FIG. 7) via the worm pinion 91 and the worm wheel 90. In addition, in the posture of the gripping device 50 shown in FIG. 4, the rotation axis X direction of the gripper 80 (grip part 81) corresponds to the front-rear direction, and the opening/closing direction (gripping direction) of the grip part 81 corresponds to the left-right direction. .

The opening/closing mechanism 93 includes a pair of link members 94, a sliding member 95 linked to the pair of link members 94, and a gripper cylinder 99 that slides the sliding member 95 back and forth. One end of each link member 94 is pivotally connected to the intermediate portion of the gripping claw 81 via a connecting pin 96. Further, the pair of link members 94 are pivotally connected to the distal end of the sliding member 95 via a connecting pin 97, with the other ends of each link member 94 vertically overlapping each other. This sliding member 95 is inserted into the hollow part of the inner cylinder part 88 and is attached to be slidable (reciprocatingly movable) along the inner circumferential surface of the inner cylinder part 88 . A slider 98 made of synthetic resin is attached between the outer peripheral surface of the sliding member 95 and the inner peripheral surface of the inner cylindrical portion 88 for guiding the sliding (reciprocating movement) of the sliding member 95. A rod-side end of a gripper cylinder 99 is connected to a base end of this sliding member 95 . Note that the bottom end of the gripper cylinder 99 is connected to the cylinder bracket portion 92 of the gripper housing 86. When the gripper cylinder 99 is extended, the sliding member 95 slides in the direction of extension, and the link members 94 swing away from each other. Thereby, the grasping claw 82 swings in the opening direction using the connecting pin 84 as a fulcrum (by the grasping claw 82 operating in the opening direction (opening operation)), thereby releasing the grip on the object. On the other hand, when the gripper cylinder 99 is retracted, the sliding member 95 slides in the retraction direction, and the link members 94 swing in a direction in which they approach each other. Thereby, the object can be gripped by the gripping claws 82 swinging in the closing direction using the connecting pin 84 as a fulcrum (by the gripping claws 82 operating in the closing direction (closing operation)). Note that since the opening/closing mechanism 93 is configured to be symmetrical, the pair of gripping claws 82 are configured to open and close symmetrically.

An operator seat 30 for operating each work device (swivel base 12, boom 13, auger device 20, gripping device 50) is provided on the side of the swivel base 12 in the vehicle body 2. An operating device 31 is disposed in front of the operating seat 30, which can be operated by the operator while sitting. As shown in FIG. 9, the operating device 31 includes a boom swivel/lever operation lever 32a for rotating and hoisting the boom 13, and a boom telescoping/bending/extending lever for extending/contracting the boom 13 and bending/extending the arm 51. An operation lever 32b, an auger operation lever 32c for rotating the auger screw 25, a gripping part vertical swinging operation lever 32d for vertically swinging the gripping part 81, and a horizontal swinging operation for the gripping part 81. A gripping part lateral swinging operation lever 32e for rotating the gripping part 81, a gripping part rotating operation lever 32f for rotating the gripping part 81, a gripping part opening/closing operation lever 32g for opening and closing the gripping part 81, etc. are provided. .

Further, the operating device 31 is provided with a mode selection switch 33, as shown in FIG. The mode selection switch 33 is configured as a toggle switch that can be switched to either a neutral position or a tilted position (it is configured to maintain the switched operating position even if the operator releases the switch). When the mode selection switch 33 is selected to the neutral position, the normal mode is set, and when the mode selection switch 33 is selected to the tilted position, the grip vertical operation mode is set. In the normal mode, each hydraulic actuator is operated independently according to the operation of each of the operating levers 32a to 32g, and the boom 13 is hoisted, extended, and rotated, and the auger device 20 (augus screw 25) is rotated. This is a mode in which the bending/extending operation of the arm 51, the vertical swinging/lateral swinging/rotation/opening/closing operation of the grip portion 81, etc. can be performed individually. In the gripper vertical operation mode, the luffing cylinder 16, the telescopic cylinder 15, and the vertical swing cylinder 62 are operated in combination (interlocked operation) in response to the operation of the boom rotation and hoisting operation lever 32a, and the gripper 81 is moved in the vertical direction ( This mode allows you to move the camera vertically.

Here, as shown in FIG. 9, the operating mechanisms such as the swivel base 12, boom 13, auger device 20, gripping device 50, etc. A controller 100 that controls the cylinder 16, the auger motor 22, the arm cylinder 55, the vertical swing cylinder 62, the horizontal swing cylinder 71, the gripper motor 79, and the gripper cylinder 99 (hereinafter collectively referred to as "hydraulic actuator"); The hydraulic unit 110 supplies hydraulic oil for driving a hydraulic actuator.

An operation signal output by operating the operating device 31 is input to the controller 100. The controller 100 outputs a command signal corresponding to the operation signal to the hydraulic unit 110 (control valve 112).

The hydraulic unit 110 includes a hydraulic pump 111 that discharges hydraulic oil, and a control valve 112 that controls the supply direction and amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator. The hydraulic pump 111 is driven by power extracted from the vehicle's engine via a PTO mechanism (not shown). The control valves 112 include an electromagnetic proportional control valve V1 corresponding to the swing motor 14, an electromagnetic proportional control valve V2 corresponding to the telescopic cylinder 15, an electromagnetic proportional control valve V3 corresponding to the undulation cylinder 16, and an electromagnetic proportional control valve corresponding to the auger motor 22. V4, an electromagnetic proportional control valve V5 corresponding to the arm cylinder 55, an electromagnetic proportional control valve V6 corresponding to the vertical swing cylinder 62, an electromagnetic proportional control valve V7 corresponding to the horizontal swing cylinder 71, an electromagnetic proportional control valve corresponding to the gripper motor 79 It has a control valve V8 and an electromagnetic proportional control valve V9 corresponding to the gripper cylinder 99. This control valve 112 electromagnetically drives the spools of each electromagnetic proportional control valve V1 to V9 based on a command signal from the controller 100, and the supply direction and amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator. and controls the operating direction and operating speed of each hydraulic actuator (controls the operating direction and operating speed of the swivel base 12, boom 13, auger device 20, and gripping device 50).

Next, a safety device provided in the gripping type digging and pole-erecting vehicle 1 of this embodiment will be explained. As shown in FIG. 9, the safety device of this embodiment includes a boom elevation angle detector 120, a boom extension amount detector 121, a boom rotation angle detector 122, an arm bending/extension angle detector 123, and a gripping part inclination. It is mainly composed of an angle detector 124, an arm cylinder axial force detector 125, and a controller 100.

The boom hoisting angle detector 120 is provided within the base end boom 13a and detects the hoisting angle θ ₁ of the boom 13. The boom extension amount detector 121 is provided at the base end of the base end boom 13a, and detects the length (extension amount) L of the boom 13. The boom rotation angle detector 122 is provided on the vehicle body 2 and detects the rotation angle θ ₂ of the boom 13 (swivel body 12). The arm bending/extending angle detector 123 is provided near the connecting portion (connecting pin 52) between the boom head 19 and the arm 51, and detects the bending/extending angle (swing angle) φ of the arm 51 with respect to the boom head 19. These four detectors 120 to 123 send voltage signals (detection signals) according to the detected information (the boom 13's elevation angle θ ₁ , extension amount L, turning angle θ ₂ , and arm 51 bending/extending angle φ) to a controller. Output to 100.

The gripping part inclination angle detector 124 is attached to the upper surface of the gripping part 81 (support plate part 83). The gripping part inclination angle detector 124 is a uniaxial inclination angle detector that detects the inclination angle Ψ of the gripping part 81 in the front-back direction with respect to the horizontal plane. The gripping part inclination angle detector 124 detects the inclination angle Ψ of the gripping part 81 in the front-rear direction and outputs a voltage signal (detection signal) corresponding to the detected inclination angle Ψ to the controller 100.

The arm cylinder axial force detector 125 is a pin-type load cell provided on the above-mentioned connecting pin 56 (see FIG. 10) that pivotally connects the boom head 19 and the rod side end of the arm cylinder 55. This arm cylinder axial force detector 125 detects the axial force F of the arm cylinder 55 (the axial load acting from the arm cylinder 55 on the connecting pin 56), and generates a voltage signal ( detection signal) is output to the controller 100.

The controller 100 includes a position calculation section 101, an operation control section 102, a moment calculation section 103, a moment comparison section 104, and a regulation section 105.

The position calculation unit 101 determines the position of the vehicle body based on the detection information (the boom 13 hoisting angle θ1, extension amount L, and rotation angle θ2) from the boom luffing angle detector 120, the boom extension amount detector 121, and the boom turning angle detector 122. The position of the tip of the boom 13 with respect to 2 is calculated.

The operation control unit 102 controls the operation of each actuator based on the operation mode selected by the mode selection switch 33 and according to the operation signal (operation command) output from the operation device 31. Each operating mode will be explained below.

When each of the operating levers 32a to 32g is operated while the mode selection switch 33 is selected to the normal mode, the operation control unit 102 independently controls each hydraulic actuator according to the operation of each of the operating levers 32a to 32g. and operate it. Specifically, when the boom swiveling and hoisting operation lever 32a is operated to tilt forward (in the front, back, left, and right directions based on the operator operating the lever; the same applies hereinafter), the hoisting cylinder 16 is operated to contract and the boom 13 is lowered. When the boom swiveling and hoisting operation lever 32a is operated to tilt backward, the hoisting cylinder 16 is extended and the boom 13 is raised and raised. Further, when the boom telescoping/bending operation lever 32b is tilted forward, the telescoping cylinder 15 is extended to extend the boom 13, and when the boom telescoping/bending/extending operation lever 32b is tilted backward, the telescoping cylinder 15 is extended. The cylinder 15 is retracted and the boom 13 is retracted. Furthermore, when the boom swing hoisting control lever 32a is tilted to the left, the swing motor 14 is rotated in the normal direction to swing the boom 13 in the counterclockwise direction, and the boom swing hoisting control lever 32a is tilted to the right. When operated, the swing motor 14 is rotated in the reverse direction to swing the boom 13 clockwise. Further, when the auger operating lever 32c is tilted forward, the auger motor 22 is rotated in the reverse direction, and the auger screw 25 is rotated in the reverse direction.When the auger operating lever 32c is tilted backward, the auger motor 22 is rotated in the reverse direction. 22 is rotated in the forward direction, and the auger screw 25 is rotated in the forward rotation direction. Further, when the boom telescoping/bending operation lever 32b is operated to tilt to the left, the arm 51 is operated to bend and extend downward with respect to the tip of the boom 13, and the boom telescoping/bending/extending operation lever 32b is operated to tilt to the right. At this time, the arm 51 is bent and extended upward relative to the tip of the boom 13. Furthermore, when the gripping part vertical swing operation lever 32d is tilted forward, the vertical swinging cylinder 62 is extended and the gripping part 81 is swung downward (vertical swinging operation). When the swing operation lever 32d is tilted backward, the vertical swing cylinder 62 is contracted to swing the grip portion 81 upward (vertical swing operation). Further, when the grip section lateral swing operation lever 32e is tilted to the left, the lateral swing cylinder 71 is extended and the grip section 81 is swung to the left (lateral swing operation). When the vertical swing operating lever 32e is tilted to the right, the horizontal swing cylinder 71 is contracted to swing the grip portion 81 to the right (lateral swing operation). Furthermore, when the gripper rotation operating lever 32f is operated to tilt forward, the gripper motor 79 is rotated in the forward direction to rotate the gripper 81 clockwise, and the gripper rotation operation lever 32f is operated to tilt backward. When this occurs, the gripper motor 79 is operated in reverse to rotate the gripping portion 81 counterclockwise. Furthermore, when the gripper opening/closing operation lever 32g is tilted forward, the gripper cylinder 99 is contracted to operate the gripper 81 in the closing direction (the direction of gripping the object), and the gripper opening/closing operation lever 32g When the gripper cylinder 99 is operated to tilt backward, the gripper cylinder 99 is operated to extend and the gripping portion 81 is operated in the opening direction (the direction of releasing the grip on the object).

In addition, when the boom rotation hoisting operation lever 32a is operated while the mode selection switch 33 is selected to the gripper vertical operation mode, the operation control unit 102 causes the hoisting cylinder 16 to extend and contract and the telescoping cylinder 15 to extend and contract. and the telescopic operation of the vertical oscillation cylinder 62 are combined and operated in conjunction with each other, and the gripping part 81 (the object gripped by the gripping part 81) is moved in the vertical direction in response to the operation of the boom turning and raising/lowering operation lever 32a. Specifically, when the boom swiveling and hoisting operation lever 32a is operated to tilt forward, the holding portion 81 is When the boom swivel hoisting operation lever 32a is tilted backward, the boom is gripped by combining the extension operation of the hoisting cylinder 16, the extension operation of the telescoping cylinder 15, and the extension operation of the vertical swing cylinder 62. 81 is moved vertically upward.

The moment calculation unit 103 calculates the axial force F of the arm cylinder 55 detected by the arm cylinder axial force detector 125, the heave angle θ ₁ of the boom 13 detected by the boom heave angle detector 120, and the arm bending/extension angle detector. Based on the bending/extending angle φ of the arm 51 detected in step 123, the moment Ma acting around the connecting pin (boom head pin) 52 (see FIG. 10) is calculated. Here, the axial force F detected by the arm cylinder axial force detector 125 is a load that acts from the gripping device 50 side with the connecting pin (boom head pin) 52 as a swing fulcrum, and the arm that acts with this axial force F The product of this and the length (normal distance D, which will be described later) is the moment Ma around the connecting pin (boom head pin) 52 that is applied from the gripping device 50 side. In other words, the moment Ma is calculated by converting the actual moment acting around the connecting pin 52 due to the weight of the gripping device 50, the load applied to the gripping part 83 (the weight of the gripped utility pole P), etc., using the axial force F applied to the arm cylinder 55. This is what I did.

Specifically, the moment calculation unit 103 calculates the boom based on the boom lifting angle θ ₁ detected by the boom lifting angle detector 120 and the bending/extending angle φ of the arm 51 detected by the arm bending/extending angle detector 123. 13 and the axis of the arm 51 (relative angle), and the normal distance D( (see FIG. 10). Note that this normal distance D is calculated based on a function that uses the relative angle between the axes of the boom 13 and the arm 51 as a variable. Then, the moment calculation unit 103 calculates the moment Ma using the calculation formula “Ma=F× D”.

The moment comparison unit 104 compares the moment Ma calculated by the moment calculation unit 103 with a preset regulation moment Mb, and outputs a regulation signal when the moment Ma exceeds the regulation moment Mb.

When a regulation signal is input from the moment comparison unit 104, the regulation unit 105 operates to raise and lower the boom 13 in the direction in which the moment Ma increases and to control the vertical head of the gripping unit 81, regardless of the operation signal from the operating device 31. Regulates swinging action. That is, when the regulation signal is input from the moment comparison unit 104, the regulation unit 105 operates the boom 13 in the direction in which the moment Ma increases and the grip unit 81 in the vertical direction until the moment Ma becomes lower than the regulation moment Mb. Regulates swing operation. In this embodiment, the vertical swinging action of the gripping part 81 is the main action that affects the increase/decrease of the moment Ma (the movement of the center of gravity in the longitudinal direction of the utility pole P). In addition to being subject to regulation, the raising and lowering operation of the boom 13 is also subject to regulation. On the other hand, the regulating section 105 allows the vertical swinging operation of the gripping section 81 in the direction in which the moment Ma decreases even when the regulating signal is input from the moment comparing section 104 (however, when the moment Ma decreases The boom 13 is not allowed to raise or lower even in the same direction). Note that this operation regulation is based on a command signal output from the operation control unit 101 to the control valve 112 (a command signal for vertically swinging the grip part 81 in the direction in which the moment Ma increases, a command signal for operating the boom 13 to raise and lower command signal).

Here, a specific example of restricting the vertical swinging operation of the grip portion 81 will be described. Specifically, when the regulation signal is input from the moment comparison unit 104, the regulation unit 105 controls the grip part inclination angle detected by the grip part inclination angle detector 124 in response to the operation signal for the vertical swing operation of the grip part 81. Based on the inclination angle Ψ of the gripping part 81, vertical swinging operation is allowed in the direction in which the inclination angle Ψ of the gripping part 81 becomes smaller (the direction in which the moment Ma decreases), and the vertical swinging operation is allowed in the direction in which the inclination angle Ψ of the gripping part 81 becomes larger (the direction in which the moment Ma decreases). (in the direction in which Ma increases). The direction in which the inclination angle Ψ of the gripping part 81 decreases (the direction in which the moment Ma decreases) is the direction in which the utility pole P gripped by the gripping part 81 approaches a vertical posture, and the inclination angle Ψ of the gripping part 81 increases. The direction (the direction in which the moment Ma increases) is the direction in which the utility pole P held by the grip portion 81 moves away from the vertical posture. For example, as shown in FIG. 11(A), in a state where the upper part of the utility pole P held by the grip part 81 is tilted forward, and the center of gravity of the utility pole P is located further forward than the grip part 81, When the moment Ma exceeds the regulation moment Mb, the vertical swinging operation of the grip part 81 in the upward direction (Y1 direction: the direction that brings the utility pole P closer to the vertical posture) is permitted, but the downward movement of the grip part 81 The vertical swing operation in the Y2 direction (direction that moves the utility pole P away from the vertical position) is restricted. On the other hand, as shown in FIG. 11(B), in a state where the upper part of the utility pole P held by the grip part 81 is tilted rearward and the center of gravity of the utility pole P is located forward of the grip part 81, the moment When Ma exceeds the regulation moment Mb, vertical swinging operation of the grip part 81 in the downward direction (Y2 direction: the direction that brings the utility pole P closer to the vertical position) is permitted, but the vertical swing operation of the grip part 81 in the upward direction ( The vertical swing operation in the Y1 direction (direction that moves the utility pole P away from the vertical position) is restricted.

Next, an explanation will be given of the operation of the safety device during pole erection work in the gripping type digging pole erection vehicle 1 of this embodiment. In the following description, unless otherwise specified, it is assumed that the mode selection switch 33 is set to the normal mode.

When carrying out pole erection work using the gripping-type hole-drilling pole-erecting vehicle 1, first, the operation device 31 is operated to operate the boom 13 as appropriate, as well as bending and extending the arm 51, vertically swinging the gripping part 81, and so on. By performing a horizontal swing operation, a rotation operation, etc., the grip part 81 is moved close to the utility pole P (for example, a utility pole P placed horizontally at a work site), and the grip part 81 and the utility pole P are aligned. . Subsequently, the pair of gripping claws 82 is operated in the closing direction (closing operation) to cause the gripping portion 81 to grip the utility pole P. Next, the boom 13 and the gripping device 50 are operated as appropriate to lift the utility pole P gripped by the gripping portion 81 and move it above the pole hole (the pole hole excavated by the auger device 20). At this time, as shown in FIG. 12, the grip part 81 is gripping a position away from the center of gravity of the utility pole P, the upper part of the utility pole P is tilted forward, and the center of gravity of the utility pole P is at the gripping position. It is assumed that the position is shifted forward. From this state, the boom 13 and the gripping device 50 are operated as appropriate to bring the utility pole P closer to the vertical position. Here, by vertically swinging the grip part 81 in the Y2 direction in FIG. 12 (direction that moves the utility pole P away from the vertical position) due to an operator's erroneous operation, the moment Ma acting around the connecting pin 52 increases. When the restriction moment Mb is exceeded, the swinging operation and the raising and lowering operation of the boom 13 are restricted (automatically stopped). Thereby, it is possible to prevent the gripping device 50 from being overloaded and damaged. Note that when the moment Ma exceeds the regulation moment Mb, the swinging operation of the grip part 81 in the Y2 direction (direction in which the moment Ma increases) in FIG. 12 is restricted; Swinging operation in the Y1 direction (direction in which moment Ma decreases) is permitted. Therefore, the operator operates the operating device 31 again to vertically swing the grip part 81 in the Y1 direction in FIG. 12, thereby gradually reducing the moment Ma around the connecting pin 52 while vertically You can get closer to your posture. Then, by vertically swinging the gripping part 81 to adjust the longitudinal inclination of the gripping part 81, and by rotating the gripping part 81 to adjust the horizontal inclination of the gripping part 81, the gripping part The utility pole P held by 81 can be placed in a vertical position. In addition, if the position of the utility pole P in the vertical position and the pole hole is misaligned (front, rear, left, and right positions), the boom 13 can be telescopically operated and rotated to maintain the utility pole P in the vertical position. By moving the utility pole P in the horizontal direction (front, rear, left and right directions), the utility pole P can be placed directly above the pole hole.

Subsequently, in order to move the utility pole P in the vertical position vertically downward toward the pole hole, the mode selection switch 33 is operated to switch from the normal mode to the gripper vertical operation mode. After switching the mode selection switch 33 to the gripper vertical operation mode, the hoisting and telescoping operations of the boom 13 are linked to the vertical swinging operation of the gripper 81 in response to the operation of the boom rotation/leverage operation lever 32a. By moving the part 81 vertically downward, the utility pole P held by the grip part 81 is inserted into the pole hole. After inserting the utility pole P to the bottom of the pole hole, the utility pole is The lower end of P can be buried in the post hole and compacted. Thereby, the pole erection work of installing the utility pole P in the pole erection hole is completed.

As described above, according to the safety device according to the present embodiment, when the moment Ma around the swing fulcrum of the arm 51 exceeds the preset regulation moment Mb, the vertical swinging operation of the grip part 81 is restricted. , regardless of the gripping position of the utility pole P by the gripping part 81, the vertical swinging operation of the gripping part 81 can be performed properly and safely, so that structures such as the gripping device 50 and the boom bracket 19 are It is possible to prevent damage to objects and improve work safety.

Furthermore, in the safety device according to the present embodiment, when the moment Ma around the swinging fulcrum of the arm 51 exceeds a preset regulation moment Mb, the vertical swinging operation of the grip part 81 and the raising and lowering operation of the boom 13 are also performed. By regulating this, it is possible to reliably prevent structures such as the gripping device 50 and the boom bracket 19 from being damaged due to generation of an excessive moment Ma, thereby further improving work safety.

Furthermore, in the safety device according to the present embodiment, when the moment Ma around the swing fulcrum of the arm 51 exceeds the regulation moment Mb, even if the arm 51 is operated in an unsafe direction (direction in which the moment Ma increases), The undulation cylinder 16 and the vertical swing cylinder 62 do not operate, and the vertical swing cylinder 62 operates only when the operation is performed in a safe direction (the direction in which the moment Ma decreases), so that the moment Ma reaches the regulating moment Mb. Even if the operation restriction is activated, the operator can safely vertically swing the gripping part 81 without getting stuck (because it is easier to perform the immediate operation when the operation restriction is activated). It is possible to achieve both safety and workability.

Note that the present invention is not limited to the above embodiments, and can be modified as appropriate without departing from the gist of the present invention.

In the above embodiment, the axial force F of the arm cylinder 55 is detected by the pin-type load cell (arm cylinder axial force detector 125) provided on the connecting pin 56, but the configuration is not limited to this. The pressure of the hydraulic oil supplied to the bottom side oil chamber and the rod side oil chamber of the cylinder 55 is detected, and the axial force F of the arm cylinder 55 is detected from the relationship between these pressure differences and the pressure receiving areas of both oil chambers. It may be configured as follows.

In the above embodiment, when the moment Ma exceeds the regulating moment Mb, the vertical swinging operation of the gripping part 81 is restricted, but the configuration is not limited to this, and the vertical swinging action of the gripping part 81 is restricted. In addition, other operations of the gripping device 50, such as the bending/extending operation of the arm 51 and the rotating operation of the gripping portion 81, may also be subject to operation regulation. In addition, if the moment Ma exceeds the regulation moment Mb, in addition to this operation regulation, an alarm is activated by, for example, an alarm sound, an alarm lamp, an alarm display, etc., in order to alert the worker. You can also do this.

In the above embodiment, the operating device 31 is provided on the operating seat 30 on the vehicle body 2, but the configuration is not limited to this. For example, the operating device 31 may be a wired or wireless remote control device (optional). It may also be configured by a portable operating device).

Further, in the above embodiment, a PTO-driven hole-drilling pole-erecting vehicle that extracts power from the engine using a PTO mechanism (power take-off mechanism) to drive a hydraulic pump is illustrated, but the structure is not limited to this. It may be an electrically driven (battery-driven) digging pole erecting vehicle, or a hybrid type digging pole erecting vehicle that is equipped with both and selectively switches the power source.

1 Grasping type hole digging pole erection vehicle 2 Vehicle body 13 Boom 16 Hoisting cylinder (boom hoisting cylinder)
19 Boom bracket 31 Operating device 50 Gripping device 51 Arm 52 Connection pin (swing fulcrum)
55 Arm cylinder (arm actuator)
62 Vertical swing cylinder (grip actuator)
80 Gripper 81 Gripping section 100 Controller 101 Position calculation section 102 Operation control section 103 Moment calculation section (moment detection section)
104 Moment comparison section 105 Regulation section 124 Grip section inclination angle detector (inclination angle detection section)
125 Arm cylinder axial force detector (moment detection section)

Claims (3)

A boom that is movable on the vehicle body,
an arm provided at the tip of the boom so as to be swingable along the undulating surface of the boom;
a gripping portion provided at the tip of the arm so as to be swingable along the undulating surface and capable of gripping an object;
a boom raising/lowering actuator that raises and lowers the boom;
an arm actuator that swings the arm along the undulating surface relative to the tip of the boom;
a gripping part actuator that swings the gripping part along the undulating surface with respect to the tip of the arm;
a moment detection unit that detects a moment acting around a swinging fulcrum of the arm when the object is gripped by the gripping unit;
A safety device for a grip-type hole-drilling pole-erecting vehicle, comprising: a regulating section that regulates the operation of the gripping section actuator when the moment detected by the moment detection section exceeds a preset regulation moment. . 2. The gripping type digging pole erection vehicle according to claim 1, wherein the regulating section also regulates the operation of the boom hoisting actuator when the moment detected by the moment detecting section exceeds the regulating moment. safety equipment. comprising an inclination angle detection section that detects an inclination angle of the gripping section with respect to a horizontal plane,
The regulating section is configured to swing the gripping section in a direction in which the inclination angle becomes smaller based on detection information of the inclination angle detection section when the moment detected by the moment detection section exceeds the regulation moment. 3. The grip-type hole excavator according to claim 1 or 2, wherein the gripper actuator is allowed to operate and the gripper actuator that swings the gripper in a direction in which the inclination angle becomes larger is restricted. Safety equipment for pole-erecting vehicles.

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