JP2612803B2 - Traveling heavy object handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling type heavy object handling apparatus, and more particularly to a traveling type heavy object handling apparatus capable of traveling and moving to an arbitrary position while holding a heavy object in a small work space without load. To a device that facilitates

[0002]

2. Description of the Related Art When a heavy object is lifted and conveyed, a reaction force corresponding to the load weight is generated, and a force corresponding to a load change caused by an operation force of an operator is generated to convey the heavy object lightly. A load balancer that can move is known (Japanese Utility Model Application Laid-Open No. 61-197979).

A conventional load balancer of this type is provided with an arm on which a heavy object is placed and which can be freely moved, and a load transmitted through this arm is received by a balance cylinder. The balance cylinder is provided with a pneumatic cylinder, and the entire load including the pneumatic cylinder is received by a hydraulic weight sensing cylinder. The pneumatic cylinder is connected to a pneumatic pressure source via a precision pressure reducing valve, and the weight sensing cylinder transmits the initial load due to the sensing load to the precision pressure reducing valve as pilot pressure, and operates the variable load by the operation of the precision pressure reducing valve. The pressure adjustment is performed.

According to such a load balancer, when a heavy object is first placed on the arm, a reaction force commensurate with the load is received by the weight sensing cylinder, and this is introduced into the precision pressure reducing valve as pilot pressure. The air pressure is introduced into the balance cylinder by opening and closing the precision pressure reducing valve to adjust the load reaction force commensurate with the operation fluctuations caused by performing the arm operation. is there.

[0005]

However, since the conventional load balancer is a method of balancing operation fluctuations by air pressure, it cannot handle heavy objects of several tons class, and a hanging method using a crane is adopted. Was often done. However, it is impossible to use a crane in a closed space or in a place where the height of the ceiling is limited, and even if a forklift is used, delicate positioning is difficult, and a handling device with better operability is desired. Was rare. In particular, for example, when trying to carry in and move steel frame material in a narrow underground space, even when using a conventional mobile load balancer, there are many movement methods using casters,
There was a drawback that the use at work sites where concrete was not cast was limited. In addition, since the trolley frame for movement becomes high, the conventional mobile load balancer cannot be used in the case of forming work in the basement of the existing building, and the support of the loaded steel frame material is not possible. There was a problem that the state became unstable. For this reason, unless a countermeasure such as providing an outrigger on a truck is taken, the operation becomes difficult. However, the provision of the outrigger has a drawback that movement is adversely affected.

The present invention focuses on the above-mentioned conventional problems, and has a load balance function by hydraulic pressure that can handle so-called heavy load of several tons class without load.
In particular, it is an object of the present invention to provide a traveling-type heavy object handling apparatus that can stably hold a supporting weight and has high mobility and is particularly suitable for use in construction work of an underground space.

[0007]

In order to achieve the above object, a traveling-type heavy object handling apparatus according to the present invention comprises a parallel link mechanism having one end pivotally mounted on a support frame and mounted to be able to swing up and down. A lift arm, and a hydraulic balance cylinder disposed on the lower surface side of the lift arm and having one end connected to the support frame to form a parallel link mechanism with the lift arm, and lift the operating shaft of the balance cylinder. The load applied to the lift arm can be balanced and supported by contacting the load bearing stopper provided on the arm.A load receiving portion is provided at the tip of the lift arm, and the load receiving portion is pivotally connected at one end. An undulating frame mounted undulatingly by a hydraulic cylinder,
A horizontal plane movable table connected to a plane drive cylinder and a swiveling tilt table supported so as to be able to swivel and tilt are provided on the undulating frame, and the support frame is mounted on a crawler type traveling vehicle so as to be able to travel, and a traveling vehicle is provided. The bogie frame is formed in a flat U-shape with an open front end, and the support rack is erected at the rear end, so that the tilt unit for mounting a load can be driven up and down by the opening. Things.

[0008]

According to the above construction, when a load is applied to the tip of the lift arm, the load is transmitted to the hydraulic balance cylinder on the lower surface of the lift arm through the load bearing stopper, and a balance reaction force corresponding to the load is generated. And balance the load. The swivel tilt table is provided at the load receiving unit to which the load is applied, and the load is directly or indirectly placed on the load tilting table. Tilt drive is possible. Therefore, the posture of the loaded heavy object can be arbitrarily adjusted by operating the loaded movable object at a predetermined height position by the lift arm without load and then appropriately driving and operating the flat movable table and the swivel tilt table. A support frame on which the load balancer means including the balance cylinder is supported is mounted on a crawler type traveling vehicle,
The lift arm and the tip receiving portion can be raised and lowered at the front opening portion sandwiched between the crawlers. As a result, the operation range of the heavy load can be greatly expanded, and no heavy load operation can be performed in narrow underground work areas, and the mobility in work places where the ground surface is not stable is extremely high. Become.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a traveling type heavy object handling apparatus according to the present invention.

FIGS. 1 to 3 are a side view, a plan view, and a rear view, respectively, showing the entire traveling type heavy object handling apparatus according to the embodiment. The handling device includes a crawler type traveling vehicle 10 and a load balance unit 14 having a lift arm 12 mounted on the traveling vehicle 10 and capable of moving up and down while generating a balancing force corresponding to a heavy object to be handled. Have. A load receiving section 16 is provided at the end of the lift arm 12 in the load balance section 14, and a heavy object 18 is held here.

First, the main configuration of the load balancer 14 will be described with reference to FIG. As shown in this figure, the load balance unit 14 includes a support frame 22 composed of a column or the like erected on a bogie frame 20 of the traveling bogie 10. Are mounted. A load receiving portion 16 for carrying the transported luggage is attached to the distal ends of both lift arms 12 so as to hold the side portions.
6 is set so that the mounting surface is always kept horizontal. For this purpose, an auxiliary arm 12A having the same length as the lift arm 12 is arranged on the upper side of each lift arm 12 in parallel with the lift arm 12, and the base end of the auxiliary arm 12A is pivoted to the support frame 22. At the same time, the front end is pivotally attached to the side surface of the receiving portion 16. At this time, the length between the rotation nodes of the lift arm 12 and the auxiliary arm 12A on the support frame 22 side is equal to the length of the rotation node length on the load receiving section 16 side, so that the support frame 22, the lift arm 1
2. The load receiving portion 16 and the auxiliary arm 12A constitute a parallel link mechanism.

A lower portion of an intermediate portion between the pair of lift arms 12 is pivotally connected to a support frame 22 so that the lift arms 1
The balance cylinder 24 is arranged so as to be parallel to the second cylinder 2. The rod 26 that extends and contracts from the balance cylinder 24 is extended toward the load receiving portion 16. The balance cylinder 24 is connected to the lift arm 12 via an auxiliary link 28 so that the balance cylinder 24 can perform an elevating operation in parallel with the lift arm 12. At this time, the length of the auxiliary link 28 is adjusted to match the length between the rotation nodes of the lift arm 12 and the balance cylinder 24 on the support rack 22 side,
These constitute a rotary parallel link mechanism.

A load is applied to the distal end of the telescopic rod 26 driven to expand and contract from the balance cylinder 24. In order to transmit the load from the lift arm 12 to the telescopic rod 26, an intermediate portion of the lift arm 12 is used. In the portion, a load bearing stopper 30 orthogonal to the extension of the rod axis is provided transversely so as to face the rod 26. The load bearing stopper 30 is formed in a right-angle L-shape, is fixed so as to extend to the lower surface side of the lift arm 12, and has a plate surface facing the telescopic rod 26.
Then, the linear guide 32 is attached to the load bearing stopper 30.
And a slider 34 fitted to the linear guide 32 is attached to the distal end of the telescopic rod 26 so as to absorb the displacement of the load transmitting position associated with the lifting operation of the lift arm 12 by sliding the two. ing.

The load balance unit 1 configured as described above
In FIG. 4, an apparatus configuration for performing balancing control when the load of the loaded heavy object 18 acts on the load receiving unit 16 will be described with reference to the schematic diagram of FIG.

A drive control means 36 for controlling the drive of the balance cylinder 24 is provided. As shown in the figure, a balance cylinder 24 constituted by a hydraulic cylinder device is provided.
Has a piston 38 slidably inserted therein.
The rod 26 that receives a load as an axial force via the stopper 30 is integrally attached to the piston 38. The inside of the cylinder 24 is partitioned by the piston 38 into an upper rod-side hydraulic chamber 40A and a lower head-side hydraulic chamber 40B in the figure. A constant-pressure supply pipe 42 for supplying a constant-pressure hydraulic oil into the chamber is connected to one of the rod-side hydraulic chambers 40A, and a servo-valve 44 is connected to the other head-side hydraulic chamber 40B. A variable supply pipe line 46 for variably supplying hydraulic oil by mounting is connected to a pump 48 or a tank 50 as a hydraulic pressure source. By adjusting the pressure and the changing speed of the head-side hydraulic chamber 40B, the lift arm 1 including the heavy object 18 is adjusted.
In addition to generating a hydraulic pressure that balances the load from the two sides, a hydraulic pressure corresponding to the operating force is generated and supported.

The balance cylinder 24 is provided with a load cell 52 as a load detection sensor on a load receiving surface from the lift arm 12 so that a load applied to the balance cylinder 24 as an axial force can be detected. And Further, pressure sensors 54A and 54B for detecting the internal pressure of the rod side hydraulic chamber 40A and the head side hydraulic chamber 40B.
And a stroke sensor 56 for detecting a stroke of the piston 38 is provided.

The drive control means 36 inputs detection signals from these sensors. Each of the sensors 52, 54A, 54B and 56 is amplified by an amplifier 58 and input to the control means 36. ing. The control means 36 converts the input signal into an arithmetic unit 62 through an A / D converter 60.
Then, necessary arithmetic processing is performed and a drive signal is output to the servo valve 44.

The arithmetic processing in the arithmetic unit 62 is performed as follows. That is, the shaft load F applied to the balance cylinder 24 by the detection signal from the load cell 52
_W is obtained and taken into the arithmetic unit 62 as a load signal. Further, a position signal of the piston 38 can be captured by a detection signal from the stroke sensor 56. Furthermore,
Based on the detection signals from the pressure sensors 54A and 54B, the hydraulic pressure of the hydraulic chambers 40A and 40B can be taken. The arithmetic unit stores the first loaded shaft load _FW in an internal memory and stores it as an initial set load. The calculator 62 continuously receives the load signal F from the load cell 52, and calculates a deviation from the initially set load _FW when the balance operation mode is set. This deviation is compared with an upper / lower threshold value ± r which is set in advance or automatically set in relation to an initial value, so as to discriminate the load cell output signal F which is sequentially detected. This is as follows.

[0019]

[Number 1] F> F _W + r This time determines the lowering operation force is applied to the goods receptacle 16, the necessary hydraulic pressure of the head-side hydraulic chamber 40B calculated in relation to the rod-side hydraulic chamber 40A, the A pressure reduction signal is output to the servo valve 44 so that the calculated hydraulic pressure is obtained.

[0020]

[Number 2] _{F W + r ≧ F ≧ F} W -r this time, it is determined that the vertical operating force to the load receiving portion 16 is not applied, does not output a drive signal to the servo valve 44, to maintain the current state .

[0021]

Equation 3] F _W -r> F In this case, it is determined as an increase operating force is applied to the goods receptacle 16, the necessary hydraulic pressure of the head-side hydraulic chamber 40B calculated in relation to the rod-side hydraulic chamber 40A, The pressure increasing signal is output to the servo valve 44 so that the calculated hydraulic pressure is obtained.

In the embodiment, the control pressure of the head-side hydraulic chamber 40B is calculated based on a reference pressure P _W based on the initial load value F _W. The pressure signal P _W + α or P _W −β is output by adding α and subtracting the constant pressure β in the case of the lowering operation. Accordingly, the servo valve 32 is controlled so that the internal pressure of the head-side hydraulic chamber 40B continues to increase at a constant rate while the raising operation signal is detected, and decreases at a constant rate while the lowering signal is detected. It is controlled and driven. The drive signal calculated by the calculator 62 is output to the servo control module 66 via the D / A converter 64, and drives the servo valve 44 via the servo driver 68 therefrom.

Here, the adjustment pressures α and β are set in the vertical operation direction at a constant rate in consideration of the piston sliding resistance of the balance cylinder 24 and the mechanical loss in the load transmission path to the balance cylinder 24. Therefore, the lift arm 12 is set so as to move up and down. For example, appropriate adjustment pressures α and β for experimentally raising or lowering the piston 38 are obtained experimentally, and stored in a memory, and the reference pressures are appropriately set. May be added and subtracted and output to the servo control module 66. Of course, the magnitude of the operating force is calculated, and the proportional adjustment pressures α ₁ , α ₂ ,..., Β ₁ , β ₂ ,. Can be generated.

As described above, in the load balance section 14, the presence / absence and direction of the up / down operation of the balance cylinder 24 composed of a hydraulic cylinder are detected by the load cell 52.
When the operating force is continuously applied, the balance cylinder 24 is controlled and driven so as to be operated up and down at an appropriate moving amount or speed in consideration of sliding resistance due to a piston ring or the like and mechanical loss. Even when the weight of the luggage is of the order of several tons, it can be easily handled.

FIGS. 6 and 7 show a specific configuration of the load receiving portion 16 provided at the tip of the lift arm 12. FIG. The load receiving portion 16 has a load receiving base portion 70 attached so as to maintain a horizontal state even when the lift arm 12 moves up and down, and has a box-shaped frame structure.
An undulating table 72 is provided on the receiving base 70. The up-and-down table 72 is pivotally attached to the leading end of the load receiving base 70 via a support pin 74, and is attached so that the rear end of the lift base near the lift arm 12 can be erected around the pin 74. An undulating cylinder 76 is disposed on both sides of the undulating table 72, and its cylinder end is connected to the load receiving base 70 and its rod end is connected to the rear end side surface of the undulating table 72.
6 to extend the undulation table 72 to the pin 74.
(See phantom line in FIG. 6A).

On the upper surface of the undulation table 72, the load weight 18 is placed along two orthogonal axes (X
A horizontal plane movable table 78 configured to be arbitrarily movable in the (Y-axis) direction is provided. This is constituted by a pair of front and rear moving (lower) tables 80 and left and right moving (upper) tables 82 stacked vertically. The lower table 80 is movably attached to a lower guide rail 84 laid on the undulating table 72 in parallel with the extension of the lift arm 12, and the upper table 82 is orthogonal to the lower guide rail 84 on the upper surface of the lower table 80. It is attached so that it can move along the upper guide rail 86 laid in the direction. Therefore, the heavy object 18 loaded on the horizontal movable table 78 can take an arbitrary position on the horizontal surface within its movable range.

A hydraulic cylinder means for driving such a horizontal movable table 78 is provided. The hydraulic cylinder means comprises a lower cylinder 88 mounted on the undulating table 72 and an upper cylinder 90 mounted on the lower table 80. ing. That is, the lower cylinder 88 is connected to the lower table 80 by connecting the cylinder part to the undulating table 72 and connecting the rod part to the lower table 80 so that the direction of expansion and contraction coincides with the direction of the lower guide rail 84. The table 80 is movable.
Similarly, the upper cylinder 90 connects the cylinder portion to the lower table 80, and connects the rod portion to the upper table 82 so that the direction of expansion and contraction matches the direction of the upper guide rail 86. On the other hand, the upper table 82 is movable.

The lower cylinder 88 and the upper cylinder 90 are controlled by the drive control means 36 so as to perform the same function as the above-mentioned balance cylinder 24. This will be described with reference to FIG.

Although not shown, pistons are slidably inserted into the two cylinders 88 and 90 constituted by the hydraulic cylinder device, similarly to the balance cylinder 24. Is partitioned into a rod-side hydraulic chamber and a head-side hydraulic chamber. A constant-pressure supply pipe 42 for supplying a constant-pressure hydraulic oil into the chamber is provided in one of the rod-side hydraulic chambers.
X and 42Y are connected, and variable supply pipes 46X and 46Y for variably supplying hydraulic oil through servo valves 44X and 44Y are connected to the other head-side hydraulic chamber, and a pump 48 as a hydraulic source is provided. And the tank 50. By adjusting the pressure and the change speed of the head-side hydraulic chamber, a hydraulic pressure corresponding to the operating force of the horizontal movable table 78 is generated.

When the horizontal movable table 78 is moved in a plane, the cylinders 88, 90 are attached to the cylinders 88, 90, respectively.
Load cell 5 for detecting the operating component force acting on the rod 0
2X and 52Y are provided respectively, and cylinders 88 and 9 are provided.
It is possible to detect a load weight applied as an axial force to zero. Further, speed sensors 92X and 92Y for detecting the rod moving speeds of the cylinders 88 and 90 are provided.

The above-described drive control means 36 is for inputting detection signals from these sensors, and amplifies each of the sensors 52X, 52Y, 92X, 92Y by an amplifier and inputs the amplified signals to the control means 36. I have to.
The control means 36 inputs the input signal to the arithmetic unit 62 via the A / D converter 60, performs necessary arithmetic processing in the arithmetic unit 62, and outputs the calculated drive signal via the D / A converter 64. The servo control modules 66X and 66Y output the signals to drive the servo valves 44X and 44Y via the servo drivers 68X and 68Y. In this embodiment, the operation speed of the cylinders 88 and 90 is controlled, and the determination of the operation direction is made by the load cells 52X, 5C.
Cylinder 8 performed by 2Y and determined
The output of the control operation for 8, 90 is transmitted to the servo valves 44X, 4
The flow rate is controlled by 4Y. The control amount is detected by the speed sensors 92X and 92Y, and while detecting the operation force, the cylinders 88 and 90 are driven so as to generate the operation direction force at a constant speed. Of course, pressure control may be performed similarly to the above-described balance cylinder 24.

The load receiving section 16 provided with such a horizontal movable table 78 is further provided with a swiveling tilt table 94, on which a heavy object 18 to be handled is loaded. This specific structure will be described with reference to FIGS. A support 96 is fixedly provided upright at the center of the upper surface of the upper table 82 of the horizontal movable table 78, and a swivel table 100 is attached to the upper end thereof via a ball bearing 98. Thus, the swivel table 100 can swing and swing around the ball bearing 98.

A flat ring-shaped tilt table 102 is arranged on the lower surface side of the swivel table 100, and has an opening at the center so as not to interfere with the ball bearing 98. The four tilt cylinders 1 erected from the upper table 82 on the inner periphery of the opening.
04 is connected, and the tilt table 102
At a predetermined height. Four tilt cylinders 104
Constitutes a tilt drive unit, which is arranged at 90-degree intervals in the circumferential direction so as to surround the column 96, and connects the telescopic rod to the inner peripheral edge of the opening of the tilt table 102. When the pair of the tilt cylinders 104 is driven to expand and contract, the tilt table unit 102 can be tilted. However, the tilt cylinder 104 also tilts at the same time, as shown in FIG. 9 (2). To
A horizontal pin 106 is interposed in the cylinder mounting portion on the upper table 82 so that the cylinder itself can be tilted during the table tilting operation.

The swivel table 100 is attached to the tilt table 102 so as to be rotatable. In this case, a ring gear 108 having a tooth surface formed on an outer peripheral surface is fixed to a lower surface portion of the revolving table portion 100, and is integrated with a tilt table portion 102 via a bearing 110 on an inner peripheral surface portion of the ring gear 108. Therefore, the swivel table 100 can be swiveled using the tilt table 102 as a rotation guide. A turning motor 114 having a pinion 112 meshing with the ring gear 108 is mounted on the tilt table 102 side. This is provided with a mounting plate 116 extending outward on the lower surface of the tilt table 102,
16 so that the rotation axis faces upward on the lower surface of the rotation motor 1.
The pinion 112 is attached to a rotating shaft passing through the plate 116 so that the pinion 112 meshes with the ring gear 108. For this reason, the turning table unit 1
00 is independently driven to rotate with respect to the tilt table unit 102.

For this reason, the heavy object 18 to be handled is loaded on the cargo receiving section 16, and is placed on the turntable 100 located at the uppermost surface. The load due to this loading is transmitted to the balance cylinder 24 via the lift arm 12 of the load balance unit 14. When the heavy object 18 is placed, the balance cylinder 24
Load cell 52 or pressure sensor 54A, 5
The weight of the load is detected by 4B and stored in the memory as the initial load F _W. As a result, a hydraulic reaction force corresponding to the initial load is output to the servo valve 44 so as to be generated in the head side hydraulic chamber 40B, and the heavy object 18 is maintained at a constant height.

Next, the balance mode in which the manual operation of the operator is accepted is determined. When the balance mode is set, the control means 36 sequentially inputs the detection signals from the sensors such as the load cell 52. In particular, a deviation between the initially set load _FW and the detected load F is calculated based on an input signal from the load cell 52, and the deviation is compared with a threshold value ± r. The presence or absence is determined. When the operation direction is the upward direction, the computing unit 62 sets the pressure of the head-side hydraulic chamber 40B to P
A drive signal for the servo valve 44 is output so as to be _W + α,
Conversely, when the operation direction is the downward direction, a drive signal is output such that the pressure in the head-side hydraulic chamber 40B becomes P _W −β. Then, the presence or absence of a stop command is determined, and the above processing is repeated until the stop command is issued. In such a hydraulic load balance unit 14, while the load receiving unit 16 is positioned at a predetermined height by generating a hydraulic reaction force opposing the initial load by the balance cylinder 24, the operator moves the load receiving unit 16 up and down by hand. When operated, as long as the operation is continued, the balance cylinder 24 is continuously pressurized or depressurized at a constant pressure in the operation direction, and can move the heavy object 18 in a desired direction without load. .

After the object to be handled is set at a predetermined height, the up-and-down table 72 is raised by driving the up-and-down cylinder 76, and the object is directed to the installation location. In this state, a fine positioning operation for the installation location is required, but this can be performed by performing a horizontal movement operation using a horizontal movable table 78 provided in the load receiving unit 16 to perform vertical and horizontal positioning. That is, the horizontal movable table 7
When the upper table 80 of No. 8 is manually operated in a desired direction,
Upper and lower cylinders 8 arranged orthogonally according to this operating force
8, 90 is provided with an operating component, which is applied to each cylinder 8
8, 90 acting as the axial force. This is load cell 52
X, 52Y, the control means 36 determines the operation direction by the load cells 52X, 52Y, and causes the output of the control operation for the cylinders 88, 90 to be performed by the determination by the flow control for the servo valves 44X, 44Y. . The control amount is detected by the speed sensors 92X and 92Y, and while detecting the operation force, the cylinders 88 and 90 are driven so as to generate the operation direction force at a constant speed. Thus, the heavy object 18 on the receiving portion 16 can be moved in a plane in any direction.

Next, the swivel tilt table 94 mounted on the horizontal movable table 78 is operated so that the attitude of the loaded heavy object 18 matches the installation attitude. This is because the rotation table 114 is rotated by driving the rotation motor 114 to make it coincide with a predetermined posture, and further, by driving the tilt cylinder 104, the tilt table 102 is rotated by a predetermined minute amount around the ball bearing 98. Tilt to an angle. This tilt cylinder 104
The tilt angle caused by the tilt operation by the tilting table 72 and the tilt angle by the large tilt operation of the undulating table 72 are detected by an inclinometer 118 (see FIG. 5) installed at any point of the turning tilt table 94, and this is reflected on the control operator side. What should I do?

Through these operations, the heavy object 18 to be handled can be operated in an arbitrary installation position without any load, and is used, for example, when a new underground structure is constructed below an existing building. The workability can be greatly improved by applying the present invention to a work such as attaching a steel frame material for a muscle.

The above-described handling device is mounted on a crawler type traveling vehicle 10 so that it can be moved to an arbitrary work place. As shown in FIG. It is configured to have a shape. That is, the left and right crawlers 120 and their guide frames 122 are arranged in parallel, and the bogie frame 20 is configured to connect the rear end portions of the guide frames 122 to each other. An engine mounting portion 126 is provided on the bogie frame 20 on the left side, and a valve unit mounting portion 128 for operating the load balance portion 14 side and a control panel 1 including the drive control means 36 on the right side.
There are 30 mounting parts. A support frame 22 that constitutes a mounting portion for the lift arm 12 is fixed upright at the center of the bogie frame 20. A pair of support frames 22 are provided in parallel, and the lift arms 12 are pivotally attached to the support frames 22, respectively, and are attached to the arch type frame 132 so as not to interfere with the tilting balance cylinder 24 located on the lower surface side of the central portion of the support frame 22. ing.

The crawler type traveling vehicle 10 having such a configuration
In the figure, a front opening portion sandwiched between the crawlers 120 is defined as a lifting operation area of the lift arm 12. The lower surface of the lift arm 12 is inclined such that the load bearing stopper 30 is at the lowermost position. In particular, the inclination angle of the front half is set so that the load receiving base 70 can be grounded. As a result, the operation range of the loaded heavy objects 18 can be greatly expanded, and heavy-load no-load operations can be performed in a narrow work place such as a basement. Since the traveling vehicle 10 is moved by the crawler 120, the mobility at a work location where the ground surface is not stable is extremely high.

Here, the traveling type handling apparatus according to the above embodiment is suitable for use in the installation work of the load holding diagonal beams when the underground floor is constructed by the reverse striking method. Since the long beam member is long, the long beam member may become a turning obstacle particularly when the long beam member is supported and moved in a narrow underground space during steering turning. That is, since the long beam member projects in front of the traveling vehicle 10 in the transport state, a large number of operations for switching the vehicles must be performed during turning. In order to cope with this, it is possible to configure the handling device according to the embodiment such that the entirety of the receiving portion can be pulled rearward and moved. This can be realized by arranging the support frame 22 supporting the balance mechanism on the carriage 10 so as to be movable back and forth. Alternatively, the receiving base 7 at the tip of the lift arm 12
What is necessary is just to comprise so that 0 part can slide backward. In this case, the auxiliary arm 12A is formed by a cylinder mechanism, the pin portion supporting the load receiving base 70 is slidable along the longitudinal direction of the lift arm 12, and the load receiving portion is moved backward by the extension and contraction operation of the auxiliary arm 12A. What should be done is. In addition, it is also possible to attach the load receiving unit to the lift arm 12 so as to be able to move backward.

[0043]

As described above, according to the present invention,
In the load balance part, when a heavy load is loaded on the receiving part,
It can be operated without load at any height while balancing by generating a vertical reaction force that can support the load with a hydraulic balance cylinder, and the flat movable table can be driven flat at the load receiving part at the tip of the lift arm The tilting table is rotatable and tiltable to support the load.
By performing the turning drive and the tilt drive operation, a heavy object held at a predetermined height by the lift arm can be changed and adjusted to an arbitrary posture. In the present invention, the load balance unit is mounted on the crawler type traveling vehicle, and the lift arm and the tip receiving unit can be raised and lowered at the front opening portion sandwiched between the crawlers. Can be greatly expanded, and a heavy load can be operated without load in a work place such as a narrow underground, and the excellent effect that mobility in a work place where the ground surface is not stable becomes extremely high can be obtained. .

[Brief description of the drawings]

FIG. 1 is a side view of a traveling heavy object handling apparatus according to an embodiment.

FIG. 2 is a plan view of the same device.

FIG. 3 is a rear view of the same device.

FIG. 4 is a side view showing a configuration of a load balance unit of the apparatus.

FIG. 5 is a configuration diagram of a control system of the apparatus.

FIG. 6 is a side view and a rear view of the receiving unit.

FIG. 7 is a plan view and a cross-sectional view of the receiving unit.

FIG. 8 is a sectional view of a swivel tilt table.

FIG. 9 is a plan view of the swivel table and a cross-sectional view of a mounted state of the tilt cylinder.

FIG. 10 is a plan view of a crawler type traveling vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Crawler type traveling vehicle 12 Lift arm 12A Auxiliary arm 14 Load balance part 16 Load receiving part 18 Heavy object 20 Bogie frame 22 Support rack 24 Balance cylinder 26 Telescopic rod 28 Auxiliary link 30 Load support stopper 32 Linear guide 34 Slider 36 Drive control means 38 Piston 40A Rod side hydraulic chamber 40B Head side hydraulic chamber 42 Constant pressure supply line 44 Servo valve 46 Variable supply line 48 Pump 50 Tank 52 Load cell 54A, 54B Pressure sensor 56 Stroke sensor 58 Amplifier 60 A / D converter 62 Calculator 64 D / A converter 66 Servo control module 68 Servo driver 70 Receiving base 72 Undulating table 74 Support pin 76 Undulating cylinder 78 Horizontal movable table 80 Front-rear moving (lower) table 82 Left / right moving (upper) table 84 Lower guide rail 86 Upper guide rail 88 Lower cylinder 90 Upper cylinder 92X, 92Y Speed sensor 94 Turning tilt table 96 Support 98 Ball bearing 100 Turning table section 102 Tilt table section 104 Tilt cylinder 106 Horizontal pin 108 Ring gear 110 Bearing 112 Pinion 114 Rotating motor 116 Mounting plate 118 Inclinometer 120 Crawler 122 Crawler guide frame

Claims (1)

(57) [Claims] 1. A lift arm comprising a parallel link mechanism pivotally attached at one end to a support frame and mounted to be able to swing up and down, and a lower end of the lift arm connected to the support frame and having one end connected to the support frame. A hydraulic balance cylinder that forms a parallel link mechanism with the lift arm has a hydraulic balance cylinder, and the load applied to the lift arm can be balanced by bringing the operating shaft of the balance cylinder into contact with the load bearing stopper provided on the lift arm. A lift receiving portion is provided at the distal end of the lift arm. The load receiving portion is pivotally connected at one end to an up / down frame which is mounted to be liftable by a hydraulic cylinder, and is connected to a flat drive cylinder on the up / down frame. Provided with a flat movable table and a swiveling tilt table supported so as to be able to swivel and tilt, and the crawler type traveling on the support rack The tilting unit is mounted on a trolley so as to be movable and the trolley frame of the trolley is formed in a flat U-shape with an open front end, and the support rack is erected at a rear end thereof to mount a load. A movable heavy object handling apparatus, which can be driven up and down by the opening.