JP2540487Y2 - 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 worker called a holding-type pole-working vehicle, 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 placed in a pole hole.

In such a grip-type pole working vehicle, the gripping device is operated and controlled based on a selection operation of a pillar mode so that a gripped telephone pole or the like is perpendicular to the ground, and thereafter, the worker raises and lowers the boom. Equipped with a control device that can control the telescopic movement and the vertical movement of the boom in response to the operation or automatically, by linking the telescopic operation and the swinging operation of the gripping device with the boom up / down operation and holding the utility pole etc. vertically. Often have.

In such a control device, in order to control the gripping device so that the gripped power pole or the like is perpendicular to the ground, when the power pole or the like is gripped by the gripping device, the central axis of the gripping shape of the gripping portion of the gripping device in the gripping device. The swing motion of the gripping device with respect to the boom and the like are controlled on the premise that the center axis of the electric pole and the like coincide with each other.

(Problems to be solved by the invention) However, in actual work, a worker judges and operates by visual inspection to cause a gripping device to grip a utility pole or the like, or a taper from a distal end to a base end like a utility pole. When gripping a holding device, a utility pole or the like may be gripped while its central axis is shifted from the central axis of the gripping shape of the gripping portion. When the control device is operated in such a state, even if the control device controls the grip device so that the central axis of the grip shape of the grip portion is perpendicular to the ground, even if the control device controls the grip device from the central axis of the grip shape of the grip portion. The poles that were originally gripped and shifted do not become vertical.For example, before operating the control device, make the gripped poles almost vertical and position the lower end of the poles directly above the pole holes. Even so, there is a problem that the lower end is displaced from the hole of the pole by operating the control device.

Also, in the holding posture as it is, even if the control device is operated, the electric pole or the like cannot be held vertically even when the control device is operated, so it is necessary to temporarily release the operation of the control device and to re-grip the electric pole etc. There is also a problem.

In view of the above problems, in the present invention, for example, there is provided a control device for a holding-type pole working vehicle that can vertically move a columnar object that has been made substantially vertical by worker's eye while maintaining its posture. It is intended to be.

B. Configuration of the Invention (Means for Solving the Problems) In order to achieve the above object, in the present invention, when the mode is switched to the vertical movement mode by the switch for vertical movement, the controller operates according to the operation of the operation means. The operation of the boom and the gripping device is controlled so that the columnar object is vertically moved while holding the posture of the columnar object gripped by the gripping device in the vertical direction.

(Operation) In the case of using such a control device, first, the boom and the gripping device are operated by an operator's operation, and the columnar object gripped by the gripping device is almost perpendicular to the ground based on the measurement of the operator. To At this time, the lower end of the columnar object is located directly above the pillar hole. Next, the vertical movement switch is switched to the vertical movement mode side, for example, by operating the operation lever of the boom up / down operation, the extension / retraction operation of the boom up / down operation and the vertical swing operation of the gripping device are performed. In conjunction with this, the pillar is vertically moved while maintaining the posture of the pillar substantially perpendicular to the ground in the vertical direction, and is built in the pillar 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.

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 gripper members 71 for gripping a power pole or the like, a gripper cylinder 72 for opening and closing the grip member 71, and a link mechanism (two links) for connecting the grip member 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 the joint member 12 so that the side surface thereof is sandwiched from above and below, and is swingable about the 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.

The operation of the gripper 70 and the boom 5 as described above is controlled by a control device described below, whereby the utility pole 91 placed on the ground or the like is gripped and lifted, and excavated by the auger device 10 or the like described above. It can be built in a built-up pole hole.

Note that the swivel table 3 has a cabin on which an operator rides.
An operation lever (109, 111, etc. in FIG. 1) for controlling the operation of the boom 5 and the gripping device 70 is mounted in the inside. 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 a vertical movement switch 101, a lever unit LU having an up / down operation lever 109 and a bending / extension operation lever 111, a controller 102, and a valve unit 103.

The vertical movement switch 101 has the off position OFF, the vertical holding mode position HK, the vertical movement mode position HM, and the automatic mode position.
Switching is performed between ATs, and terminals of the vertical holding mode position HK, the vertical movement mode position HM, and the automatic mode position AT are connected to the controller 102 via signal lines, respectively. The operation changeover switch 101 is mounted in the cabin 3a.

The raising / lowering operation lever 109 and the bending / extension operation lever 111 in the lever unit LU are for controlling the raising / lowering operation of the telescopic boom 6 and the bending / extension operation of the bending / extension arm 7, respectively. They are connected via a line. The lever unit
In the LU, a turning operation lever for turning control of the turntable 3, a telescopic operating lever for controlling the expansion and contraction of the telescopic boom 6,
The swing of the gripper 70, the swing for rotation control, a rotation operation lever (not shown), and the like are also included, but these are not connected to the controller 102 but are directly connected to the valve unit 103.

The controller 102 controls the valve unit based on signals from the vertical movement switch 101 and the operation levers 109 and 111.
An operation signal is sent to 103 and the gripper rotation motor 79a. The controller 102 is provided with the vertical movement switch 1
When 01 is in the off position OFF, the up / down operation lever 109
And the signal line from the bending and stretching operation lever 111 is directly connected to the valve unit 103.

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 the electromagnetic switching valves to operate the electromagnetic switching valves, thereby operating the respective cylinders and the like.

Next, a case of performing a pole work using the present control device 100 will be described. Here, as shown in FIGS. 3A and 3B, the central axis 91a of the utility pole 91 is the central axis S of the grip shape (outer diameter of the utility pole 91) of the grip member 71 in the gripper 70.
Will be described below.

First, the operator turns off the vertical movement switch 101 to the OFF position.
, Each of the operation levers (109, 111, etc.) is operated, and the utility pole 91 placed on the ground or the like is gripped by the gripper 70. At this time, it is desirable to grip the central axis 91a of the utility pole 91 so that the central axis S of the grip shape is aligned, but there is an error in the eye measurement of the operator, or there is a taper of the utility pole 91 itself, Their central axes S, 91a
Is shifted by an angle α.

In such a gripping state, the boom 5 and the gripper
The utility pole 70 is lifted by operating 70, and the utility pole 91 is corrected almost vertically by the operator's eye measurement. In addition, if the angle of correction of the electric pole 91 by the operator in the direction in which the electric pole 91 approaches the vertical is β, the angle (posture) of the electric pole 91 with respect to the vertical direction H is (α−β).

Next, move the vertical movement switch 101 to the vertical holding mode position HK.
Then, the up / down operation lever 109, the bending / extension operation lever 111, or the expansion / contraction operation lever is operated to position the lower end of the utility pole 91 directly above the pole hole 120 as shown in FIG. The vertical movement of the gripper 70 is linked to the up / down operation of the telescopic boom 6 and the bending / extension operation of the bending / extension arm 7, and the angle of the utility pole 91 is maintained at (α-β).

Next, the vertical movement switch 101 is set to the vertical movement mode position HM.
When the operating lever 109 or the extension / retraction operation lever 111 is operated, the controller 102 causes the extension / retraction operation of the extension / reduction boom 6 or the extension / retraction operation of the extension / retraction arm 7, and the extension / retraction operation of the extension / reduction boom 6 and the vertical movement of the gripper 70. Are interlocked, and as shown by the chain line 91 'in FIG.
Is moved in the vertical direction while maintaining the angle (α-β) with respect to the vertical direction H, and is built in the column hole 120.

When the vertical movement switch 101 is switched to the automatic mode position AT, the controller 102 automatically controls the operation of the gripper 70 for making the electric pole 91 perpendicular to the ground and the control for vertically moving the electric pole 91.

C. As described above, with the control device of the present invention, the operator holds the posture after positioning the lower end of the columnar object directly above the pillar hole in the posture assumed by the worker to be vertical by visual inspection. Since the column can be moved in the vertical direction while being held, regardless of whether the center axis of the holding shape of the holding member in the holding device and the center axis of the column match or not, the work is interrupted as in the related art. Without any trouble, the work can be done smoothly.

[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. Fig. 4 is a plan view, a side view, and a cross-sectional view of the gripping device. Fig. 4 is a conceptual diagram showing an operation of a boom and the like controlled by the control device. 5 boom, 6 telescopic boom 7 bending arm, 10 auger device 70 gripper 101 vertical movement switch 102 controller 109 lifting operation lever 111 bending operation lever S center axis of grip shape 91a center of telephone pole axis

 ────────────────────────────────────────────────── ─── 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 grip having at least a boom which can be raised and contracted, and which can hold a columnar object at the tip of the boom, and a gripping device which can swing at least in a vertical direction with respect to the tip of the boom. A control device for a column-type work vehicle, comprising: a vertical movement switch for switching to a vertical movement mode; operating means for controlling operation of the boom; and the vertical movement switch switching to a vertical movement mode side. When held, the boom and the controller for controlling the operation of the gripping device to vertically move the columnar object while holding the posture of the columnar object gripped by the gripping device in the vertical direction. A control device for a grip-type work column.