JP2542356Y2 - Revolving work vehicle gripping device - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention relates to a revolving work vehicle used for transporting, installing, and removing long steel materials at construction sites, such as underground where there is not enough space, especially in civil engineering and construction works. Related to a gripping device.

[0002]

2. Description of the Related Art Conventionally, when a crane truck is used to transport, install, and remove long steel materials such as H-section steel in a narrow space such as underground construction, the space is narrow and the behavior of the crane truck is restricted, thereby reducing work efficiency. there is a possibility that significantly inhibited, and harm to other workers. Moreover, when installing a long steel material in a high place, there is a dangerous work in which a worker goes up to a high place and removes a hanging rope. Further, during transportation of the long steel material, a retaining rope is required to stop the run-out, and there is a problem that extra labor is required.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and has been made to solve the above problems, and is intended for use in long spaces such as H-shaped steel in narrow spaces such as underground works. It is an object of the present invention to provide a gripping device for a revolving work vehicle that can efficiently and safely handle the turning work vehicle.

In order to achieve the above object, the present invention has adopted
The technical means is bent to the upper part of the revolving
Swiveling work vehicle arm with curved boom and arm
A gripping device at the tip of the system, wherein the gripping device is a horizontal first
The tip of the arm is rotatable vertically about the rotation axis.
A first rotating part attached to the
Rotatably mounted on the first rotating part with the second rotating shaft as a fulcrum.
A second rotating part attached, the first rotating shaft and the second rotating
Second rotation with the third rotation axis orthogonal to any of the axes as the fulcrum
And a third rotating part rotatably mounted on the moving part.
It is characterized by the following.

[0005]

According to the present invention, pivotable with respect to the traveling portion handed
The boom and the arm are attached to the upper part of the torso so as to be able to bend, and the gripping device at the tip of the arm is rotatable three-dimensionally. It is possible to perform operations such as running while the vehicle is in the upright position, and vertically lifting from a low position to a high position, and installing it at an installation location. In other words, the long steel material can be handled at a position close enough to the fuselage without swinging, so that work in a narrow space is performed efficiently and safely, and the gripping device is firmly gripped without swinging, so it is being transported It is not necessary to remove the retaining ropes during handling and the installation can be accurately performed by fine movement operation of the first rotating unit, the second rotating unit, and the third rotating unit without depending on the rope operation. .

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the illustrated embodiment. FIG. 1 is a side view showing a state in which the gripping device is downwardly gripping the H- shaped steel , and a state in which the gripping device is rotated sideways to grip the H- shaped steel and lift vertically to a high position, and FIG. FIG. 3 is a side view showing a state in which the gripping device is turned sideways to grip the H- shaped steel at a low position, and a state in which the H- shaped steel is slightly lifted vertically, and FIG. 3 is a plan view of the gripping device. In the figure, reference numeral 1 denotes a revolving work vehicle according to the present invention, 2 denotes a traveling unit thereof,
Reference numeral 3 denotes a revolving frame which is mounted on the revolving frame 2 so as to be fully revolvable. Reference numeral 4 denotes a cab assembled on the revolving frame 3. A bending boom 5 and an arm 6 are provided on one side of the cab 4. The boom 5 is attached to a bracket 7 fixed to the revolving frame 3 so as to be raised and lowered in the vertical plane. The boom 5 is a boom cylinder 8 interposed between the bracket 7 and the boom 5. The rotation is controlled by pins 10 and 11 as fulcrums by an arm cylinder 9 interposed between the six.

Numeral 12 denotes a gripping device attached to the distal end of the arm 6. The gripping device 12 rotates about a first rotating shaft 13 that is horizontal in the width direction of the cab 4 provided at the distal end of the arm 6. A first rotating portion, a second rotating portion provided on the first rotating portion and rotating around a second rotating shaft 15 orthogonal to the first rotating shaft 13 as a fulcrum; Third rotating shaft 17 in a direction orthogonal to both one rotating shaft 13 and second rotating shaft 15
(Shown in FIG. 3) as a fulcrum, and a third rotating portion 18 that rotates around the fulcrum. The first rotating portion 14 includes the arm 6 and the first rotating portion 1.
The first rotary cylinder 19 is provided between the first rotary cylinder 19 and the second rotary motor 2.
0, the third rotating unit 18 is connected to the second rotating unit 16 and the third rotating unit 1.
Each of the gripping devices 12 is rotated by a third rotary cylinder 21 interposed between the eight, and the gripping device 12 can be three-dimensionally controlled by the combined movement. The gripping device 12 is of a clamp type that can reliably grip the long steel, and has a gripping cylinder 2.
2, the movable jaw 23 is opened and closed.

[0008] An example of the case of using the above-mentioned revolving work vehicle 1 to perform H-beam cutting work will be described below with reference to FIGS. 4 to 9 . First, the revolving work vehicle 1 is transported to the site and is suspended in the dug-down cloth digger (FIG. 4) . Next, the boom 5 and the arm 6 are extended, and the H-shaped steel 24 carried in advance is gripped by the gripping device 12 turned downward . (FIG. 5). next
Raise the boom 5 and lift the H-shaped steel 24, and lift the cab 90
The work vehicle 1 is turned in the longitudinal direction of the H-shaped steel 24 and the traveling direction of the work vehicle 1 is directed to the longitudinal direction of the H-shaped steel 24, and the work vehicle 1 is run in the extending direction of the digging while the H-shaped steel 24 is sufficiently close to the body (FIG.
6) . When the cab reaches the installation position of the cutting beam, the cab is turned again by 90 degrees , the H-shaped steel 24 is turned in the transverse direction of the digging, the first turning cylinder 19 is controlled, and the first turning portion 14 of the gripping device 12 is turned 90 degrees. By turning the gripper 12 sideways,
The section steel 24 is lifted in order from 1 m, 2 m, and 4 m from the low position to the high position, and the cutting beams are installed (FIGS. 7, 8, and 9) . H
Lifting of the section steel 24 involves controlling the angle of the boom 5 and the arm 6,
In the combined movement by the rotation control of the first rotation cylinder 19, H
The shape steel 24 can be lifted on a vertical trajectory while maintaining the fixed posture. The work of removing the cutting beam is performed in the reverse of the above. Of course, the handling procedure is not limited to the above-mentioned order, but can be changed as appropriate depending on the pattern at the site. The revolving work vehicle
Can be replaced with other work attachments on the bracket.
With it, it can be used as a work vehicle of another kind
is there.

[0009]

[Effects of the Invention] As described above, the present invention is applied to a traveling unit.
Bending boom and arm at the top of the revolving structure that can pivot
A gripping device for the tip of the arm of a revolving work vehicle
Therefore, the gripping device is suspended about the first horizontal rotation axis as a fulcrum.
The first attached to the tip of the arm so that it can rotate in the vertical direction
A rotating part, and a second rotating axis orthogonal to the first rotating axis as a fulcrum.
And a second rotating part rotatably attached to the first rotating part
Perpendicular to both the first rotation axis and the second rotation axis.
Rotatably mounted on the second rotating part with the third rotating shaft as a fulcrum.
And a third rotating part attached thereto.
Thus, the long steel material can be gripped by the gripping device, traveled in a state of approaching along the fuselage, and can be lifted vertically from a low position to a high position and installed at an installation location.
In other words, the long steel material can be handled at a position close enough to the fuselage without swinging, so that work in a narrow space is performed efficiently and safely, and the gripping device is firmly gripped without swinging, so it is being transported And a retaining rope during handling is unnecessary, and positioning of the installation can be accurately performed by fine movement operation of the first rotating portion, the second rotating portion, and the third rotating portion without depending on the rope operation, And the like.

[Brief description of the drawings]

FIG. 1 is a revolving work vehicle showing a state in which an H-shaped steel is gripped with a gripping device facing downward, and a state in which the gripping device is turned sideways to grip an H-shaped steel and lift vertically to a high position. It is a side view of.

FIG. 2 is a side view of the revolving work vehicle, showing a state in which the gripping device is turned sideways to grip the H-shaped steel at a low position and a state in which the H-shaped steel is slightly lifted vertically.

FIG. 3 is a plan view of the gripping device.

FIG. 4 is a view showing a state in which a revolving work vehicle is hung in a cloth digger when performing H-section steel beam cutting work.

FIG. 5 is a diagram illustrating a state where an H-shaped steel is gripped by a gripping device.

FIG. 6 is a view showing a state in which the H-shaped steel is lifted from the state shown in FIG. 5 and the revolving work vehicle is turned in the longitudinal direction of the H-shaped steel.

7 is a view showing a state in which the cab is turned 90 degrees at the cutting beam installation position from the state shown in FIG. 6, the gripping device is turned sideways, and the H-section steel is raised by 1 m along a vertical locus.

FIG. 8 is a view illustrating a state in which the H-section steel is lifted by 2 m along a vertical locus.

FIG. 9 is a view illustrating a state in which the H-section steel is lifted by 4 m along a vertical locus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Revolving work vehicle 2 Running part 4 Cab 5 Boom 6 Arm 12 Gripping device 13 First rotating shaft 14 First rotating portion 15 Second rotating shaft 16 Second rotating portion 17 Third rotating shaft 18 Third Rotating part

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinichi Nakamura 23 Atsuzu-cho, Komatsu-shi, Ishikawa Pref. Inside Awazu Plant of Komatsu Ltd. (72) Inventor Yuichi Kikuchi 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Takeshi Terashima 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation (72) Inventor Katsuhiko Kimura 1-2-3 Shibaura, Minato-ku, Tokyo Shimizu Corporation In-house (56) References Heikai 2-37183 (JP, U)

Claims (1)

(57) [Scope of request for utility model registration] An upper part of a revolving structure that can be turned with respect to a traveling part is bent.
Swiveling work vehicle arm with curved boom and arm
A gripping device at the tip of the system, wherein the gripping device is a horizontal first
The tip of the arm is rotatable vertically about the rotation axis.
A first rotating part attached to the
Rotatably mounted on the first rotating part with the second rotating shaft as a fulcrum.
A second rotating part attached, the first rotating shaft and the second rotating
Second rotation with the third rotation axis orthogonal to any of the axes as the fulcrum
And a third rotating part rotatably mounted on the moving part.
A gripping device for a revolving work vehicle , characterized in that: