JP2540486Y2 - Control device for grip-type pole work vehicle - Google Patents

Description

[Detailed description of the invention] a. Purpose of the invention (industrial application field) The present invention relates to a work vehicle that holds a utility pole or the like by a gripping device attached to the tip of a boom to perform a pole work, and furthermore, a control device for the boom and the gripping device. About.

(Prior Art) For construction work of pillars such as electric poles, a boom which can be raised and lowered, expanded and contracted and the like is provided, and the boom is attached to the tip of the boom so as to be able to swing at least in a vertical direction with respect to the tip of the boom. There is a case where a work vehicle referred to as a holding-type pole working vehicle is provided, which is provided with a holding device, and is capable of holding a utility pole or the like by the holding device so that the electric pole or the like can be directly installed in a pole hole.

In such a gripping type pole working vehicle, a gripping device is controlled based on a selection operation of a pole mode so that a gripped electric pole or the like is perpendicular to the ground, and thereafter, an operator raises or lowers a boom. In response to or automatically, the control device is provided with a control device capable of controlling the telescopic operation and the swinging motion of the gripping device in conjunction with the raising and lowering operation of the boom to move the electric pole or the like vertically while holding the pole vertically. Often.

(Problems to be Solved by the Invention) When performing a pole work using a grip-type pole working vehicle equipped with such a control device, first, the operator puts it down on the ground or on the work body by operating the operator. The utility pole or the like is grasped and lifted by the grasping device, and the utility pole or the like is made vertical by the worker's visual observation above the pole hole. Next, the boom is actuated in advance to position the lower end of the utility pole or the like directly above the pole hole. Thereafter, the control device is operated.

However, there is often an error between the vertical position of the utility pole or the like measured by the operator and the vertical position determined by the control device. In this case, the control device corrects the utility pole or the like vertically so that the vertical There is a problem that the lower end of a utility pole or the like which is positioned right above the building is displaced from the pole hole. Therefore, the worker once releases the operation of the control device,
It is time-consuming and inconvenient to perform the operation of re-positioning the lower end of the utility pole or the like to just above the pole hole, and to operate the control device again.

In view of the above problems, in the present invention, as a first step, it is possible to control each operation of the boom to align the position with the pillar hole while keeping the columnar object vertical and in the vertical state, and as a second step, the vertical state It is an object of the present invention to provide a control device for a grip-type pole working vehicle that can vertically move a columnar object as it is.

B. Configuration of the Invention (Means for Solving the Problems) In order to achieve the above object, in the control device of the present invention,
A switch is provided for switching between the vertical holding stage and the vertical movement stage of the columnar object, and when the switch is switched to the vertical holding stage side by the controller, the columnar object gripped by the gripping device is set to be vertical. By operating the gripping device, each operation of the boom can be independently controlled by operating the operating means while the columnar object is held vertically. When the changeover switch is switched to the vertical movement stage side, the operation of the boom and the gripping device is controlled so that the columnar object is vertically moved in accordance with the operation of the operating means while the columnar object is maintained vertically. Make up.

(Operation) In such a control device, first, after the columnar object is gripped and lifted by the operation of the operator, as a first stage, when the changeover switch is switched to the vertical holding stage side,
Activate the gripping device to make the column vertical. At this time, the operation of raising and lowering and extending the boom can be independently controlled in accordance with the operation of the operation lever or the like by the operator while the columnar object is held vertically. This allows the operator to position the lower end of the columnar object that holds the vertical state by performing the raising and lowering of the boom, the extension operation, and the like, just above the pillar hole.

Next, as a second stage, when the changeover switch is switched to the vertical movement stage side, while the columnar object is maintained vertically, for example, the boom is raised and lowered by operating the boom operation lever. The columnar object can be vertically moved by linking the expansion / contraction operation and the swinging movement of the gripping device, and can be inserted into the column hole.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

First, as shown in FIG. 2, a turntable 3 is mounted on the rear part of the vehicle body 2 of the gripping digging pole truck 1 and the turntable 3
Can be turned by the operation of the turning motor 4.
The boom 5 attached to the swivel base 3 includes a telescopic boom 6 pivotally attached to the swivel base 3 and a bending and extending arm 7 pivotally attached to a tip of the telescopic boom 6. The telescopic boom 6 includes a proximal boom 6a, an intermediate boom 6b and a distal boom 6c which are fitted into the telescopic boom 6 and are extendable with respect to the proximal boom 6a by a telescopic operation of a telescopic cylinder 8 mounted inside the telescopic boom 6. It is composed of The telescopic boom 6 having such a configuration can be freely raised and lowered by the expansion and contraction operation of a raising and lowering cylinder 9 attached to the swivel 3.

There is.

An auger device 10 for excavating a pole hole is suspended from a base end boom 6a of the telescopic boom 6. However,
FIG. 2 shows the retracted state of the auger device 10. When performing a digging operation using the auger device 10, the auger device 10 is attached to the tip boom 6b, and the auger device 10 is extended by extending the telescopic boom 6 or the like. And suspend it vertically to the ground.

The bending and stretching arm 7 is attached to the tip of the tip boom 6c. The bending / extension arm 7 can freely bend and extend with respect to the distal end of the telescopic boom 6 by a telescopic operation of a bending / extending cylinder 11 attached to the distal end boom 6c. further,
The distal end of the bending / extending arm 7 is
Gripper (gripping device) 70 as shown in FIGS. 3A, 3B and 3C
Is attached.

The gripper 70 includes a set of grip members 71 for gripping a power pole or the like, a gripper cylinder 72 for opening and closing the grip members 71, and a link mechanism (two links) connecting the grip members 71 and the gripper cylinder 72. The link member 74 and the guide member 75 are formed in a Y-shape, and cover the gripper cylinder 72.
Gripper housing 73 provided to extend to the side 71)
It is composed of

The left side of the gripper housing 73 (the side covering the gripper cylinder 72) is cylindrical, and the right side is a prismatic shape. Further, the right end of the gripper housing 73 has upper and lower surfaces opened in a T-shape, respectively.
The fulcrum 71b of the grip member 71 is pivotally attached to both ends of the character shape. The grip member 71 is provided with an action point 71c offset inward from the fulcrum 71b. One end of each of the two link members 74 is pivotally connected to the action point 71c, and the other end of the link member 74 is The other end of the link member 74 overlaps with the other end, and is pivotally attached to one end of a guide member 75 that slides along the inner wall of the gripper housing 73.The other end of the guide member 75 is connected to the piston rod 72a of the gripper cylinder 72. Are linked.

In the gripper 70 having such a configuration, when the gripper cylinder 72 is extended, the grip member 71 is pushed outwardly around the fulcrum 71b, and when the gripper cylinder 72 is reduced, the grip member 71 is moved around the fulcrum 71b. It is closed inward and grips the utility pole 91.

Since the guide member 75 is guided by the gripper housing 73, the grip member 71 operates to open and close symmetrically.

Further, notches 71e and 71e 'are provided at the distal end of the grip member 71 so that the distal ends of the grip member 71 can cross each other. For this reason, gripper 70
Thereby, the small-diameter columnar graspable member 92a attached to the work table 92 placed on the vehicle body 2 in FIG. 2 can be gripped, and the work table 92 can be moved to a higher place.

A cylindrical member 76 is attached so as to cover the prismatic portion of the gripper housing 73 (see FIGS. 3B and 3C), and further, the cylindrical member 76 is a rotating support member 77 having a cylindrical shape.
And is rotatably attached to it. Also, on the outer periphery of the side surface of the cylindrical member 76, the cylindrical member 76
A worm wheel 78 is mounted concentrically with the worm wheel 78, and the worm wheel 78 is engaged with a worm pinion 79 rotatably mounted on a support member 77a mounted on the outside of the rotation support member 77.
When the gripper rotation motor 79a connected to 79 is rotated, the worm wheel 78, that is, the gripper 70 rotates with respect to the rotation support member 77 (for example,
The gripper 70 rotates 90 ° until the state shown by the two-dot chain line E in FIG. 3B is reached).

As shown in FIGS. 3B and 3C, the rotation support member 77 is supported by a joint member 81 so that its side face is sandwiched from above and below, and is swingable about its support point. At the lower end of the joint member 12, a laterally oscillating cylinder 82 is pivotally mounted on its side, and a piston rod of the laterally oscillating cylinder 82 is fixed to a supporting member 77a.
By pushing or pulling 7b, the gripper 70
It is swingable in the left-right direction (lateral direction) from the position indicated by the two-dot chain line A to the position indicated by B in FIG. 3A.

Further, by the expansion and contraction operation of the vertical swing cylinder 83 attached between the joint member 12 and the bending / extending arm 7, the joint member 12, that is, the gripper 70 is moved from the position shown by the two-dot chain line C in FIG. Up and down (vertically) to the position indicated by.

By controlling the operations of the gripper 70 and the boom 5 as described above by a control device described below, the telephone pole 91 placed on the ground or the like is gripped and lifted, and excavated by the above-described digging operation. It can be built in a pole hole.

Note that the swivel table 3 has a cabin on which an operator rides.
3a is mounted therein, and operation levers (108, 109, 111, etc. in FIG. 1) for controlling the operation of the boom 5 and the gripping device 70 are mounted therein. Outriggers 13 are provided at four front, rear, left, and right sides of the vehicle body 2, respectively. When performing work, the outriggers 13 are extended laterally and downward of the vehicle body 2, and the vehicle body 2 is placed horizontally on the ground.

Next, the configuration of the control device according to the present invention will be described with reference to FIG.

The control device 100 includes an operation changeover switch 101, a telescopic operation lever 108, an up / down operation lever 109, and a bending / extension operation lever.
A lever unit LU having 111, a controller 102,
And a valve unit 103.

The operation changeover switch 101 is switched between the OFF position OFF, the vertical holding stage position HK, the vertical movement stage position HM, and the automatic mode position AT, and each position HK, H except the OFF position OFF.
M and AT terminals are connected to the controller 102 via signal lines. The operation changeover switch 101 is mounted in the cabin 3a.

The telescopic operation lever 108, the up / down operation lever 109, and the bending / extension operation lever 111 in the lever unit LU are used to control the up / down operation, the expansion / contraction operation of the telescopic boom 6, and the bending / extension operation of the bending / extension arm 7, respectively. Ten
8, 109 and 111 are connected to the controller 102 via signal lines. Note that the swivel 3 is provided in the lever unit LU.
A swing operation lever for swing control, swing for the gripper 70, swing for rotation control, a rotation operation lever (not shown), and the like are included, but these are not connected to the controller 102, and are directly connected to the controller 102. It is connected to the valve unit 103.

The controller 102 sends an operation signal to the valve unit 103 and the gripper rotation motor 79a based on signals from the operation changeover switch 101 and the operation levers 108, 109, 111.

In the valve unit 103, an electromagnetic switching valve for controlling supply and discharge of hydraulic oil to each of the swing motor 4, the telescopic cylinder 8, the up / down cylinder 9, the bending / stretching cylinder 11, the horizontal oscillating cylinder 82 and the vertical oscillating cylinder 83, etc. (Not shown) is provided. The operation signal sent from the controller 102 excites the solenoids of these electromagnetic switching valves to operate the electromagnetic switching valves, thereby operating each cylinder and the like.

Next, a case of performing a pole work using the present control device 100 will be described.

First, the operator turns the operation changeover switch 101 to the off position OFF.
, The operating levers (108, 109, 111, etc.) in the lever unit LU are operated to cause the gripper 70 to grip the telephone pole 91 placed on the ground or the like. Further, the boom 5 is operated to lift the gripped telephone pole upward.

Next, when the operation changeover switch 101 is switched to the vertical holding stage position HK and a vertical holding signal is sent to the controller 102, the controller 102 operates the solenoid and gripper rotating motor of the electromagnetic switching valve for the vertical swing cylinder 83 in the valve unit 103. An operation signal is sent to the vertical swing cylinder 83 and the gripper rotation motor 79a so that the electric pole 91 is perpendicular to the ground as shown by a chain line H in FIG. 4 (for example, as shown in FIG. 3B). So that the central axis 91a of the electric pole 91 is perpendicular to the ground).

At this stage, when the telescopic operation lever 108 is operated and an operation signal is input after the electric pole 91 is made vertical as described above, the controller 102 operates the electromagnetic switching valve for the telescopic cylinder 8 to extend and retract. The boom 6 is extended and retracted (dotted line J in FIG. 4). When an operation signal is input from the up / down operation lever 109 or the bending / extension operation lever 111, the controller 102 causes the vertical swing cylinder 83 to operate in conjunction with the operation of the up / down cylinder 9 or
The telescopic boom 6 is raised and lowered while holding the vertical position 91 (dotted line K in FIG. 4), or the bending arm 7 is bent and extended (dotted line L in FIG. 4). It is also possible to operate the swing motor 4 and the horizontal swing cylinder 82 to swing the boom 5 and swing the gripper 70.

In this way, by moving the electric pole 91 while holding it vertically, the lower end of the electric pole 91 is connected to the pole hole 12 as shown in FIG.
Position it right above 0.

Next, the operation changeover switch 101 is switched to the vertical movement stage position HM. This causes the vertical movement signal to be
Is input to At this stage, the up / down operation lever 10
9 or the operation signal from the bending / extension operation lever 111 is input, the controller 102 holds the telephone pole 91 vertically by linking the telescopic cylinder 8 and the vertical swing cylinder 83 to the operation of the up / down cylinder 9 or the bending / extension cylinder 11. And move it vertically. Therefore, as shown by the chain line in FIG. 5, the utility pole 91 including the lower end and the pole hole 120 is vertically lowered, and can be reliably inserted into the pole hole 120.

When the operation changeover switch 101 is switched to the automatic mode position AT, the operation from the operation of vertically correcting the electric pole 91 to the operation of vertically moving the electric pole 91 can be automatically performed.

C. Effect of the Invention As described above, if the control device of the invention is used, the columnar object gripped by the gripping device is made vertical as the first stage, and then the boom is raised and lowered, expanded and contracted while maintaining the vertical state. As a result, the lower end of the columnar object can be reliably positioned directly above the column hole, and after the alignment is performed, the columnar shape can be simply lowered vertically as the second stage. Since the objects are smoothly placed in the pole holes, the work efficiency of the pole work can be improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a control device according to the present invention, FIG. 2 is a side view of a grip-type pole work vehicle provided with an upper switching control device, FIG. 3A, FIG. 3B and FIG. The drawings are a plan view, a side view, and a cross-sectional view of the gripping device. FIGS. 4 and 5 are conceptual diagrams showing the operation of a boom and the like controlled by the control device. 5 boom, 6 telescopic boom 7 bending arm, 70 gripper 101 operation switch 102 controller, 108 telescopic operation lever 109 undulating operation lever 111… bending operation lever

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Takashi Mori Inventor: 1152 Yamashita, Ryoke, Ryouji, Ageo-shi, Saitama 10 Aichi Vehicle Co., Ltd. Ageo Factory (56) Reference: Japanese Utility Model 2-50488

Claims (1)

(57) [Scope of request for utility model registration] 1. A gripping type comprising at least a boom which can be raised and lowered and which can be extended and contracted, and a gripping device which can grip a columnar object at the tip of the boom and can swing at least in a vertical direction with respect to the tip of the boom. A control device for a pole working vehicle, comprising: a changeover switch for switching a vertical holding stage and a vertical movement stage of the columnar object; operating means for controlling operation of the boom; and a controller. When the changeover switch is switched to the vertical holding stage side, the gripping device is operated so that the columnar object gripped by the gripping device is vertical, and the columnar object is held vertically. , Each operation of the boom can be independently controlled according to the operation of the operation means, and when the changeover switch is switched to the vertical movement stage side, A control device for a holding-type pole working vehicle, wherein an operation of the boom and the gripping device is controlled so as to vertically move the columnar object while holding the columnar object vertically.