JP2532824Y2 - Attitude control device for gripping device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a gripping device for gripping an object such as a telephone pole, and more particularly to a posture control device for controlling the swinging posture of the gripping device. The gravity leveling valve in the present invention is, for example, a hydraulic valve that opens and closes an oil passage using a sphere rolling on an inclined surface due to gravity.

[0002]

2. Description of the Related Art As a device provided with the above-mentioned gripping device, there is a gripping type pole working vehicle 30 as shown in FIG.
The gripping-type construction work vehicle 30 is a gripping device 3 that grips a columnar member (object) such as a utility pole 40 via an arm 34 that can freely undulate and extend at the tip of a boom 33 that can be undulated, stretched, and the like.
5 is attached. The gripping device 35 is capable of swinging up and down and left and right with respect to the arm 34, of which the vertical swinging is performed by a hydraulic vertical swinging cylinder (a hydraulic swinging driving unit) mounted between the gripping device 35 and the arm 34. ) 37. In this gripping type pole working vehicle 30, the gripping device 35 directly grips the columnar member, and lifts and moves the gripping device 35 by each operation of the boom 33 and the arm 34 to freely move the columnar member. , And can be efficiently inserted into the pillar hole 45 or pulled out from the pillar hole 45. By the way, in order to facilitate the above-mentioned loading and unloading, the column-type member is automatically vertically attached to the gripping type column working vehicle 30 irrespective of changes in the up-and-down / bending state of the boom 33 and the arm 34. A vertical maintenance function that can be maintained is provided. And this vertical maintenance function,
This is due to the function of a posture control device that can maintain the vertical swinging posture of the holding device 35 holding the columnar member from just beside at a horizontal level.

Here, the attitude control device is designed to automatically return the swinging attitude of the gripping device 35 to the horizontal level using gravity when the tilting attitude of the gripping device 35 is inclined from the horizontal level. A so-called gravitational leveling valve that controls the supply of hydraulic pressure to the oscillating cylinder 37 is often used. This gravity type leveling valve is attached to the gripping device 35, and when the gripping device 35 is inclined,
The circuit for supplying the hydraulic pressure to the oscillating cylinder 37 is opened and closed by using a sphere or the like that naturally rolls in the tilt direction due to gravity.

[0004]

However, if the leveling valve does not accurately control the horizontal holding of the gripping device due to a malfunction of the gravity type leveling valve or the like, the columnar member gripped by the gripping device is not provided. Cannot be maintained vertically, and not only can the column member be erected satisfactorily, but also the column member can interfere with surrounding buildings and the like. Furthermore, even if the hydraulic pressure supply to the leveling valve is stopped in a state where such leveling control is not accurately performed, the danger of the interference cannot be completely eliminated if the boom drive is permitted. . The present invention has been made in view of such circumstances, and an object of the present invention is to provide a posture control device of a gripping device that can ensure the safety of work when a malfunction or the like occurs in a gravity leveling valve. Aim.

[0005]

According to the present invention, when the swinging posture of the gripping device is inclined with respect to the horizontal level, the present invention automatically utilizes gravity. In addition to the gravity-type leveling valve that controls the supply of hydraulic pressure to the hydraulic oscillating drive means to return the gripping posture of the gripping device to the horizontal level, the excessive tilt detector detects the tilting posture of the gripping device from the horizontal level. When it is detected that the inclination of the hydraulic pump exceeds a predetermined inclination, the leveling regulating means for stopping the supply of the hydraulic pressure from the gravity type leveling valve to the hydraulic swing drive means, and the hydraulic boom drive means from the hydraulic source A posture control device of the gripping device is provided by providing a boom operation restricting means for stopping the hydraulic pressure supply.

[0006]

With such an attitude control device, the attitude control of the gripping device is not performed accurately due to malfunction of the gravity type leveling valve and the inclination of the swinging attitude of the gripping device becomes excessive ( When the inclination exceeds a predetermined inclination), the excessive inclination detector detects this, and the leveling restricting means stops the supply of the hydraulic pressure from the gravity type leveling valve to the hydraulic oscillating driving means. For this reason,
It is possible to prevent the posture control of the gripping device from being performed more incorrectly. And, even if the posture control of the gripping device is stopped in the state where the inclination is excessive, if the operation of the boom is allowed as it is, there is a possibility of further interference due to the inclined posture of the gripping device. The hydraulic pressure supply to the hydraulic boom drive means is also stopped.
This prevents the boom from continuing to operate while the gravity leveling valve is still abnormal, thereby ensuring work safety.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. First, a holding-type pole working vehicle provided with the attitude control device of the holding device according to the present invention will be described in detail with reference to FIG. This grip-type pole work vehicle 30
At the rear of the vehicle body 31 is mounted a swivel base 32 that is rotatable with respect to the vehicle body 31. At the upper part of the swivel base 32, a telescopic boom 33 is mounted so as to be able to move up and down. Further, at the tip of the boom 33, a boom 33
The arm 34 is attached to the tip of the arm 34 so as to be able to swing vertically and horizontally with respect to the arm 34 at the tip of the arm 34. The raising and lowering operation of the boom 33 is performed by the operation of a hydraulic raising and lowering cylinder 36 attached between the swivel base 32 and the boom 33, and the bending and extending operation of the arm 34 is performed by a hydraulic bending and extending cylinder 38 mounted between the arm 34 and the boom 33. Further, the vertical oscillating operation of the gripping device 35 is performed by the operation of the hydraulic vertical oscillating cylinder 37 attached between the gripping device 35 and the arm 34. In the holding-type pole working vehicle 30 configured as described above, the electric pole 40 is held by the holding device 35 so that the longitudinal axis of the holding device 35 is orthogonal to the longitudinal axis of the electric pole 40 (from the side). While lifting the gripping device 35 by the operation of the boom 33 and the arm 34, and horizontally moving it by the operation of the swivel table 32, the electric pole 40 is inserted into the column hole 45 excavated on the ground or pulled out from the column hole 45. Or you can. The boom 33 has a boom 33
An auger device 52 is attached to the distal end portion and the base end portion via a connecting member 51 which is selectively detachable, so that the auger device 52 can be suspended and retracted.
Can be drilled.

[0008] The holding-type pole working vehicle 30 includes:
When the electric pole 40 grasped by the grasping device 35 is inserted and pulled out, regardless of the up / down operation state of the boom 33 and the bending / extension operation state of the arm 34, the electric pole 40 is
In order to maintain the vertical position, the posture control device is provided which maintains the swinging posture (hereinafter, simply referred to as posture) of the gripping device 35 in the vertical direction at a horizontal level. Less than,
This attitude control device will be described with reference to FIG. As shown in FIG. 2, the attitude control device 1 includes a gravity type leveling valve 2 attached to an upper portion of a gripping device 35 (a portion that becomes horizontal when the attitude of the gripping device 35 is at a horizontal level). Over-tilt detector 3 attached to the section
And a leveling restriction circuit 4 mainly attached to the vehicle body 31.

The gravity leveling valve 2 includes a box 21a.
And an inclination detecting section 21 which is provided inside the box 21a and comprises a sphere 21b which can roll on the floor of the box 21a, and a direction switching control valve 22 for controlling the flow direction of hydraulic oil.
It is composed of First, the direction switching control valve 22
The main hydraulic line 10 connected to the hydraulic pressure source OP is connected to the rod-side oil chamber (hereinafter, referred to as an upper-side oil chamber) and the bottom-side oil chamber (hereinafter, a lower-side oil chamber) of the above-mentioned hydraulic vertical oscillating cylinder 37. A left-handed position connecting the main hydraulic line 10 to the upper swing-side oil chamber,
It is a three-position switching valve having a right-handed position for connecting the main hydraulic line 10 to the lower swing-side oil chamber. The switching is performed by two pilot ports 2 provided on the left and right of the valve body.
The operation is performed by pushing the spool by the pilot pressure acting on one of 2a and 22a. A right pilot line 23 connected to the hydraulic pressure source OP and the right pilot port 22a is provided on the right inner side surface of the box 21a in the inclination detecting unit 21.
a is connected, and a hydraulic power source OP is provided on the left inner side surface of the box 21a.
And a left pilot line 23b connected to the left pilot port 22b. Furthermore, box 21a
A drain line 24 connected to the tank T is connected to the center of the floor. In the gravity leveling valve 2 configured as described above, when the posture of the gripping device 35 is at the horizontal level, the sphere 21b is located at the center of the box 21a and closes the drain line 24.
The same hydraulic pressure acts on 2a and 22a, and the direction switching control valve 22 is located at the neutral position. When the posture of the gripping device 35 is tilted from the horizontal level, the floor of the box 21a is tilted downward to the right or left, so that the sphere 21b rolls on the floor and hits the right or left side of the box 21a. Right pilot line 23a or left pilot line 23b while touching
Close. At the same time, the sphere 21b opens the drain line 24 that has been closed. Sphere 21b
The hydraulic pressure supplied from the hydraulic pressure source OP, that is, the pilot pressure, rises in the pilot line closed by the pressure, while the open pilot line is connected to the drain line 24 through the internal space of the box 21a, so that the pilot line Does not have pilot pressure. Thus, the pilot pressure acts on one of the pilot ports (22a or 22b), and the direction switching control valve 22 switches from the neutral position to the left movement position or the right movement position. For this reason, when the posture of the gripping device 35 is lowered from the horizontal level (downward inclined state), the gravity type leveling valve 2 automatically causes the hydraulic oscillating cylinder 37 to oscillate on the upper oscillating side of the hydraulic chamber. And the hydraulic vertical swing cylinder 37 is contracted to return the gripping device 35 to the horizontal level. Further, when the posture of the gripping device 35 rises from the horizontal level (inclined to the right), the gravity type leveling valve 2 automatically operates the hydraulic vertical oscillating cylinder 37 to the lower oscillating side oil chamber. Oil is replenished and the hydraulic oscillating cylinder 37
Is extended, and the posture of the gripping device 35 is returned to the horizontal level.

The over-tilt detector 3 has a predetermined inclination (for example, 5 degrees) from the horizontal level of the posture of the gripping device 35.
Is detected and a detection signal is output.

The leveling restricting circuit 4 is provided in a leveling restricting valve 41 provided on the main hydraulic line 10 and in a raising / lowering / extending hydraulic circuit 15 for supplying hydraulic pressure to the raising / lowering cylinder 36 and the bending / extension cylinder 38. An up-and-down / bending control valve 42, a buzzer 43 that issues an alarm,
And a switching circuit 45. FIG. 1 shows only the circuit for the up-and-down cylinder 36 (however, the sub-hydraulic line 151 is common to both the cylinders 36 and 38) in the up-and-down / bending-and-extension operation hydraulic circuit 15. First, the leveling regulating valve 41 is connected to the main hydraulic line 1.
A right-moving position for opening 0 (hereinafter referred to as an opening position);
This is a two-position switching valve having a left-handed position (hereinafter, referred to as a drain position) for connecting the main hydraulic line 10 to the tank T. The switching is performed by exciting the solenoid 41s.
Performed by non-excitation. That is, when the solenoid 41s is not excited, it is switched to the drain position, and when it is excited, it is switched to the open position. The undulation / bending / extension control valve 42 is provided in the undulation / bending / extension hydraulic circuit 15 as described above.
Here, the up / down / bending / extension operation hydraulic circuit 15 is configured to transmit a sub hydraulic line 151 branched from the main hydraulic line 10 (but upstream of the leveling regulating valve 41) and a hydraulic pressure supplied by the sub hydraulic line 151 to an up / down cylinder. An up / down operating valve 154 for controlling supply to the 36;
Similarly, it comprises a bending / extension operation valve (not shown) for controlling the supply of hydraulic pressure to the bending / extension cylinder 38. And the above undulation
The bending / extension regulating valve 42 is provided on the sub-hydraulic line 151 upstream of the up / down operation valve 154 and the bending / extension operation valve. The undulation / flexion restricting valve 42 has an upper moving position (hereinafter, referred to as an opening position) for opening the sub hydraulic line 151 and a lower moving position (hereinafter, referred to as a drain position) for connecting the sub hydraulic line 151 to the tank T. It is a two-position switching valve. The switching is performed by energizing / de-energizing the solenoid 42s. That is, when the solenoid 42s is not excited, it is switched to the open position, and when it is excited, it is switched to the drain position. Switching circuit 45
Is a leveling control signal line 450 for connecting the battery B to the solenoid 41s of the leveling control valve 41, a coil C and three switches (first switch K).
1, a second switch K2 and a third switch K3). A main switch 451 is provided on the leveling restriction signal line 450 for conducting (on) and blocking (off) the signal line 450 so that the gravity type leveling valve 2 controls the attitude of the gripping device 35. Have been. Further, the coil C is connected to the output terminal of the above-mentioned excessive tilt detector 3. Further, the first switch K1 is on the leveling control signal line 450, and the second switch K2 is on the undulation / flexion control signal line 452 for connecting the battery B to the solenoid 42s of the undulation / flexion control valve 42. The third switch K3 is provided on a buzzer operation signal line 453 for connecting the battery B to the buzzer 43 described above. When the coil C is not excited, the first switch K1 is located at a closed position for conducting the leveling restriction signal line 450, and when the coil C is excited, the signal line 4 is closed.
It is located in an open position that blocks 50. In addition, the second switch K
When the coil C is not energized, the second and third switches K3 are located at the open positions for cutting off the undulation / bending and restraining signal line 452 and the buzzer operation signal line 453, respectively.
Is energized, the signal lines 452 and 453 are in the closed position for conducting.

In the attitude control device 1 configured as described above, when the main switch 451 is turned on, the leveling restriction signal line 450 is turned on, and the solenoid 41s is turned on.
Is excited, the leveling regulating valve 41 switches to the open position, and hydraulic pressure is supplied to the gravity type leveling valve 2. In this way, the posture control of the gripping device 35 by the above-mentioned gravity type leveling valve 2 is executed according to the change of the up / down / bending state of the boom 33 and the arm 34. However, for example, when the gripping device 35 is tilted beyond a predetermined tilt due to a malfunction of the gravity type leveling valve 2, this is detected by the excessive tilt detector 3, and the detection is performed. The coil C is excited by the signal. Therefore, the first switch K1 is located at the open position, the excitation of the solenoid 41s is released, and the leveling regulating valve 41 switches to the drain position. Therefore, further supply of hydraulic pressure to the gravity type leveling valve 2, that is, erroneous attitude control of the gripping device 35 by the gravity type leveling valve 2 is prevented. Also,
At the same time, the second switch K2 is located at the closed position,
The solenoid 42s is excited to raise / lower / bend / restrict the valve 4
2 is switched to the drain position, and the further raising / lowering or bending operation of the boom 33 and the arm 34 is forcibly stopped regardless of the operation of the raising / lowering operation valve 154 or the bending / extension operation valve. As a result, the operation of the boom 33 and the arm 34 is prevented from continuing when the gravity leveling valve 2 is still abnormal, thereby ensuring the safety of the operation. Further, since the third opening / closing switch K3 is also in the closed position, an alarm is issued from the buzzer 43, and the operator is surely made aware that the gravity type leveling valve 2 has failed.

[0013]

As described above, in the posture control device of the gripping device according to the present invention, the operation of the gravity leveling valve is malfunctioned, and the posture control of the gripping device is not performed accurately. When the inclination is excessive, the leveling restricting means stops the supply of the hydraulic pressure from the gravity type leveling valve to the hydraulic oscillating drive means. Further, the supply of the hydraulic pressure from the hydraulic pressure source to the boom driving means is stopped by the boom restricting means, and the operation of the boom is prevented from continuing when the gravity type leveling valve is abnormal. For this reason, the use of the present attitude control device can reliably prevent continuation of inaccurate attitude control of the gripping device by the gravitational leveling valve that has caused an operation failure, etc. Can be

[Brief description of the drawings]

FIG. 1 is a hydraulic and electric circuit diagram of the attitude control device according to the present invention.

FIG. 2 is a side view of a grip-type pole carriage provided with the attitude control device.

[Explanation of symbols]

 2 Gravity type leveling valve 3 Over-tilt detector 4 Leveling control circuit 35 Gripping device 37 Hydraulic vertical oscillation cylinder 40 Electric pole 41 Leveling control valve 42 Undulation control valve 43 Buzzer

Continued on the front page (72) Inventor Takeya Suzuki 1152 Yamashita, Ryoji, Ryouji, Ageo City, Saitama Prefecture Inside the Ageo Plant of Aichi Vehicle Co., Ltd. (72) Inventor Toshiyuki Hirahara 1-1-6 Uchisaiwaicho, Chiyoda-ku, Tokyo Japan Within Telegraph and Telephone Co., Ltd. (72) Inventor: Hitoshi Tanazawa Within 1-6, Uchisaiwaicho, Chiyoda-ku, Tokyo Within Nippon Telegraph and Telephone Co., Ltd. (56) References Really Open Showa 61-86396 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] (1) The operation of a hydraulic boom drive means reduces
At least a boom that can be freely moved up and down , and a boom that is attached to the tip of the boom and grips the object and swings up and down by operating the hydraulic swing drive means.
A gripping device to be actuated; attached to the gripping device, when the gripping posture of the gripping device is inclined with respect to a horizontal level, automatically using gravity to swing the gripping device. A gravity-type leveling valve for controlling the supply of hydraulic pressure from a hydraulic source to the hydraulic oscillating drive means so as to return the attitude to a horizontal level. An over-tilt detector that detects that the degree of inclination from the level exceeds a predetermined degree of inclination, and when the degree of inclination of the swinging posture is detected to exceed the predetermined degree of inclination by the over-tilt detector. The leveling regulating means for stopping the supply of hydraulic pressure from the gravity leveling valve to the hydraulic oscillating driving means, and the degree of inclination of the oscillating posture is determined by the excessive inclination detector.
When it is detected that the slope has exceeded the fixed slope,
Stop hydraulic pressure supply from hydraulic source to the hydraulic boom drive means
And a boom operation restricting means for controlling the posture of the gripping device.