JP6715990B2 - Columnar member gripping device and vehicle equipped with the device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a columnar member gripping device used for a work of constructing (standing) a utility pole or other columnar member or removing (removing) an existing columnar member, and a vehicle including the device.

Most of the conventional work of building and removing pillars of utility poles has been performed using a digging pillar vehicle (see, for example, Patent Document 1).

For example, as shown in FIG. 8, the digging pillar vehicle 10 digs a digging device (for example, screw auger type) 11 that can dig a building hole 2 for building a utility pole 1, and a utility pole. The vehicle includes a crane 12 (boom 13) for planting, a winch (hoisting machine) 14, and the like.

As a procedure for the planting work of the electric pole 1 by the digging planting vehicle 10, the following steps 1 to 4 are usually performed (see FIG. 8).
1. The excavation of the building pole hole 2 for planting the electric pole 1 in a predetermined position by the screw auger 11 of the digging pillar vehicle 10.
2. An electric pole 1 mounted on a bed or the ground of a transportation vehicle that carries electric poles is slung (attachment of a hanging tool 15 for lifting to the electric pole).
3. A hoist (hoisting machine) 14 attached to the tip of the boom 13 hoists the hoisting tool 15 to hoist the electric pole 1 substantially vertically.
4. In response to an instruction from the guide operator 4, the crane operator 3 performs a crane operation (turning, undulating, expanding and contracting of the boom 13) to move the utility pole 1 to the position of the building post hole 2 previously excavated.
5. The winch 14 is rolled up, and the utility pole 1 is planted in the building pole hole 2.
The pillar removal work (work of pulling out the utility pole) is performed in the reverse order of the above.

Japanese Utility Model Publication No. 3-62086 Japanese Patent Laid-Open No. 02-81892

However, in the planting work of the electric pole as described above, when the electric pole 1 is lifted up and moved to the position of the building pillar hole 2 (steps 3 and 4 above), the hoisted electric pole 1 is swayed, so that an intermediary worker 5 is arranged. However, the intervening worker 5 needs to guide (guide) the lower end side of the utility pole 1 to the position of the building post hole 2 while stopping the lower end side of the hoisted electric pole 1 from shaking using the interposition rope 6.

Therefore, a total of four workers including at least one site supervisor, one crane operator, one guidance worker, and one attendant worker are required for the conventional planting work of utility poles. Was not very good.

In addition, in the situation where the electric wire 7 is congested in the sky above the construction site at the site where the digging pillar vehicle 10 is used for planting/extracting pillars, the crane operator 3 follows the instructions of the guide operator 4 in the construction at a narrow space. It is necessary to operate the boom 13 of the vehicle 10 to perform the building work while avoiding the contact with the electric wire 7 and the nearby structures, and a skilled technique is required for the crane operation and guidance at such a site. There is a fact that is said.

In addition, the attendant worker 5 who performs the steadying of the utility pole and the guidance to the position of the building pole in the work of planting and removing the utility pole is dangerous because of the risk of injury.

In addition, due to the recent decrease in the population of workers and the aging of the population, it is becoming difficult to secure workers, and the work of planting/extracting utility poles requires a lot of labor and high technology. For planting and pillar removal work, it is required to reduce the number of required workers, save labor, and switch to a skillless construction method that does not require skilled skills.

As another method of planting/extracting poles of a utility pole, a method using a utility pole gripping device (hereinafter referred to as a grapple) as described in Patent Document 2 is also known.
As shown in FIG. 9, the grapple 24 is configured to include grip claws 25 that sandwich and grip the outer periphery of the electric pole 1 from both sides.

In the case of the building pole vehicle 20 using such a grapple 24, the procedure for the planting/extracting of a utility pole is as follows (see FIG. 9).
A. The center of gravity in the longitudinal direction of the electric pole 1 in the longitudinal direction of the utility pole 1 by the grip claws 25 of the grapple 24 attached to the tip of the boom 21 (as shown in FIG. 9, the base side boom 22 and the tip side boom 23 are included). Or around it).
B. The utility pole 1 is lifted while operating the boom 23 and the relative angular position of the grapple 24 around the joint 26 with respect to the boom 23, and the utility pole 1 is brought almost vertically.
C. The lower end side of the telephone pole 1 being gripped is moved to a predetermined position of the building pole hole 2.
D. While operating the boom 23 and the relative angular position (tilt angle) of the grapple 24 around the joint 26 with respect to the boom 23, the utility pole 1 is inserted substantially vertically into the building pole hole 2 for planting.
The pillar removal work (work of pulling out the utility pole) is performed in the reverse order of the above.

According to the method of planting electric poles of the building pole vehicle 20 provided with the grapple 24 according to such a work procedure, unlike the case of using the above-mentioned digging pillar vehicle 10 (when using the boom and winch). Since the utility pole itself is directly gripped by the grapple, there is no need for complicated and time-consuming slinging work, which is efficient.

Further, the building pole vehicle 20 provided with the grapple 24 is in an unstable state in which a utility pole is hung by a suspending tool, as compared with the case of using the above-mentioned digging pillar truck 10 (using a boom and a winch). Since the utility pole is not moved to the position of the building pole, there is no risk of the utility pole swinging and it is safe, and it is possible to omit an attendant worker.

Furthermore, since the utility pole 1 can be moved substantially horizontally with respect to the ground surface by the function (tilt function) of changing the relative angular position (tilt angle) of the grapple 24 around the joint 26 with respect to the boom 23, the utility pole 1 can be moved above the sky. Even when the electric wires 7 and the like are congested, it is possible to move the electric poles to the position of the building pole without contacting the electric poles with the electric wires, etc., and it is possible to significantly improve the work efficiency. It is possible to contribute to shortening the work time for planting/extracting pillars (shortening the construction period).

However, when actually trying to use the grapple 24 for building pole work, since a general concrete utility pole (concrete utility pole) that is often used as a utility pole in Japan today is heavy, it is possible to use a suitable grapple and equipment. There is a reality that the size of vehicles is large and it is not suitable for construction in places where houses such as Japan are densely packed or in narrow spaces such as alleys (such as work to construct utility poles and work to remove poles).

Further, the building pole vehicle 20 including the grapple 24, like the digging pillar truck 10, lowers the utility pole by winding the wire while maintaining the boom of the crane in a raised state (a predetermined inclination angle with respect to the horizontal plane). Since it is not possible to hang it vertically to build a pillar, when the building pillar vehicle 20 equipped with a grapple is to be planted, the tilt angle of the boom and the relative angular position (tilt angle) of the grapple to the boom should be operated. Depending on the situation, it is necessary to plant the electric poles while keeping them vertical, which makes it difficult to operate the crane and requires skill.

Furthermore, when a utility pole is to be planted over a relatively tall obstacle such as a fence, it is necessary to hold the center of gravity in the longitudinal direction of the utility pole (or its vicinity) in order to maintain the utility pole vertically. However, there are many cases where it becomes impossible to perform a building pillar because it interferes with an obstacle.

In such a case, in order to avoid an obstacle, if the position where the grapple grips the utility pole is set to a position away from the center of gravity (a position near one end in the longitudinal direction), the gripping claw 25 grips the utility pole. Since the bending moment acting on the gripping part becomes large, it is assumed that the concrete electric pole has insufficient mechanical strength and the electric pole may be broken or damaged, which significantly reduces the work efficiency and is dangerous. There is also.

The present invention has been made in view of the above-mentioned various circumstances, and even when there is an obstacle or when working in a narrow place, it is possible to easily and safely plant a columnar member such as a utility pole. At the same time, it is an object of the present invention to provide a gripping device (grapple) for a columnar member and a vehicle equipped with the gripping device, which can improve work efficiency and work safety without damaging the columnar member.

Therefore, the columnar member gripping device according to the present invention is
A gripping device for a columnar member, which grips the outer periphery of a columnar member from a direction substantially orthogonal to the longitudinal direction of the columnar member,
A pair of first gripping members facing each other across the longitudinal center axis of the columnar member so that the outer circumference of the columnar member can be gripped;
The first gripping member is arranged at a different position in the longitudinal direction of the columnar member, and the relative distance between the first gripping member and the first gripping member is expandable and contractable so that the outer periphery of the columnar member can be gripped. A pair of second gripping members facing each other on both sides of the central axis of the columnar member in the longitudinal direction;
A control device that controls the gripping force of the columnar member by the first gripping member and the second gripping member, and changes and controls the relative distance between the first gripping member and the second gripping member.
Is composed of
The control device weakens the gripping force of the first gripping member from the state of gripping the columnar member by the first gripping member and the second gripping member, After moving the first gripping member along the longitudinal direction of the columnar member so that the relative distance becomes large or small, the gripping force of the first gripping member is restored, and then the second gripping member is restored. By repeating the operation of moving the first gripping member along the longitudinal direction of the columnar member such that the gripping force of the gripping member is weakened and the relative distance to the second gripping member becomes smaller or larger, The relative gripping position of the columnar member in the columnar member gripping device is changed.

A vehicle according to the present invention is characterized by including the above-described gripping device for a columnar member according to the present invention.

According to the present invention, even when there is an obstacle or when working in a narrow place, it is possible to easily and safely build a columnar member such as an electric pole, without damaging the columnar member. It is possible to provide a gripping device (grapple) for a columnar member that can improve work efficiency and work safety, and a vehicle including the gripping device.

FIG. 1 is a side view (view seen from the side of the vehicle) showing an overall configuration of a building-column vehicle having a columnar member according to an embodiment of the present invention. (A) is a perspective view which extracts and shows the holding device (grapple) and the holding|maintenance electric pole which the building pole vehicle which concerns on Example 1 of embodiment same as the above is extracted, (B) same as the above holding device (grapple), It is the figure which looked at the telephone pole from the base frame side, (C) is a right view of (B), (D) is a top view (top view) of (C), (E) is (C). FIG. (A) is a plan view (top view: a view as seen from above in the longitudinal direction of the electric pole) showing the details of the gripping device (grapple), and (B) is a part of (A) (a pair of upper and lower gripping claws, It is the side view which extracted and showed only the upper side of a pressure pad and a pressure roller. FIG. 3 is a diagram (system configuration diagram) showing an example of a hydraulic circuit and a control device for controlling the opening/closing operation (drive) of the grip claw of the grip device (grapple). It is a figure explaining the operation|movement which descend|falls the electric pole currently hold|gripped by opening/closing operation (fine movement) of the holding|grip nail|claw of a holding|grip apparatus (grapple) same as the above in a short cycle. It is a figure which shows an example of a structure of the centrifugal brake for applying a brake to the pressure roller with which the same gripping device (grapple) is provided. (A) is a plan view showing the details of the gripping device (grapple) according to the second embodiment (top view: a view seen from above in the longitudinal direction of the utility pole), (B) is a front view of (A), (C) is a right side view of (B), and (D) is a right side view showing a state in which the distance between the upper and lower grip claws is extended (enlarged) from the state of (B). It is a side view which shows an example of the conventional digging pillar vehicle (crane and winch system). It is a side view which shows an example of the conventional pillar vehicle provided with the grapple.

Hereinafter, an embodiment according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

As shown in FIG. 1, a columnar member gripping device (grapple) 100 and a building pillar vehicle 200 including the gripping device 100 according to the present invention includes a crane 210 at a rear portion of a vehicle body (frame) 201 of the vehicle 200. Is configured.

Crane 210
A swivel base (swivel base) 211 whose lower end side is supported so as to swivel in a substantially horizontal plane around the first joint 210A with respect to the vehicle body 201,
On the upper end side of the swivel base 211, a base end side boom 212A whose base end is supported to be swingable in a substantially vertical plane around the second joint 210B,
On the tip end side of the base end side boom 212A, a tip end side boom 212B whose base end side is supported swingably in a substantially vertical plane around the third joint 210C,
The base end portion of the tip side boom 212B is rotatable about the central axis X in the longitudinal direction of the tip side boom 212B via the fourth joint 210D and is swingable in a substantially vertical plane. A supported grapple (gripping device) 100,
It is configured to include.

The swivel base 211 is configured to swivel in a substantially horizontal plane around the first joint 210A with respect to the vehicle body 201 by, for example, a hydraulic motor (or an electric motor) 213, a speed reducer, or the like.

Further, the proximal boom 212A is configured to be swingably driven in a substantially vertical plane around the second joint 210B with respect to the upper end side of the swivel base 211 by, for example, an extendable hydraulic actuator 214. There is.

Further, the tip end side boom 212B is configured to be swingably driven in a substantially vertical plane around the third joint 210C with respect to the tip end side of the base end side boom 212A by an extendable hydraulic actuator 215, for example. ing.
The tip side boom 212B can be configured to be expandable and contractable in the longitudinal direction by an expandable and contractible hydraulic actuator (not shown).

In addition, the grapple 100 is provided with, for example, a hydraulic motor (or electric motor) 216, a speed reducer, or the like, with respect to the distal end side of the distal boom 212B, via the fourth joint 210D, the central axis of the distal boom 212B in the longitudinal direction. It is configured to be driven to rotate around X.

Further, the grapple 100 is swingably driven in a substantially vertical plane, for example, by an extendable hydraulic actuator (not shown) with respect to the distal end side of the distal boom 212B via the fourth joint 210D. Is configured.

That is, the grapple 100 is configured to be rotatable about the longitudinal center axis X on the tip side of the tip side boom 212B and tiltable (tiltable) with respect to the longitudinal center axis X.

Here, the grapple (grasping device) 100 according to the present embodiment will be described with reference to FIGS. 2(A) to 2(E), 3(A), and 3(B).
As shown in FIG. 1, the grapple (grasping device) 100 is a device that is supported on the tip side of the tip side boom 212B and holds the electric pole 1 which is an example of a columnar member (a rod-shaped member having an elongated shape). As shown in FIG. 2, the electric pole 1 is configured to include a pair of grip claws (grip members) 110A and 110B which are arranged to face each other with the outer periphery of the utility pole 1 interposed therebetween. Note that a pair of gripping claws 120A and 120B having the same configuration are provided at positions different from the pair of gripping claws 110A and 110B in the longitudinal direction of the electric pole 1.

In the description of the configuration of the grip claws according to the present embodiment, the pair of grip claws 110A and 110B will be described as a representative. 2 and 3, the illustration of the fourth joint 210D and the tip side boom 212B supporting the grapple (grasping device) 100 is omitted.

The grip claws 110A and 110B are swingable around the pivots 111A and 111B, respectively, with respect to the base frame 101 of the grapple (grasping device) 100 that is rotatably and tiltably attached to the tip side of the tip side boom 212B. It is supported.

Then, the driving force of a drive actuator 330 (see FIG. 4) such as a hydraulic cylinder is applied to the proximal ends 110A1 and 110B1 of the gripping claws 110A and 110B (opposite sides of the pivots 111A and 111B of the distal ends 110A2 and 110B2). Thus, when the tip ends 110A2, 110B2 of the gripping claws 110A, 110B are swung (rotated) around the pivots 111A, 111B in a direction in which they are separated from each other (open state), the utility pole 1 is gripped by the gripping claws 110A, 110B. It can be received from the outside and is housed inside the grip claws 110A and 110B so that the center of the electric pole 1 matches a predetermined grip center position Y (FIG. 3(A), FIG. 3 (B) state).
Further, when the utility pole 1 is already gripped at the predetermined grip position Y, the tip ends 110A2, 110B2 of the grip claws 110A, 110B are swung (rotated) around the pivots 111A, 111B in a direction in which they are separated from each other. ) (Released state), the utility pole 1 can be released from the grip claws 110A and 110B, and the utility pole 1 can be released to the outside of the grip claws 110A and 110B.

Then, after the electric pole 1 is housed in the predetermined gripping position Y as described above, the tip ends 110A2 and 110B2 of the gripping claws 110A and 110B are swung about the pivots 111A and 111B in the directions toward each other ( The electric pole 1 can be gripped at a predetermined grip center position Y by rotating (pivoting) (closed state, gripped state).

In the present embodiment, when the gripping claws 110A and 110B grip the utility pole 1 (state of FIG. 3A), the portions of the gripping claws 110A and 110B that come into contact with the utility pole 1 are not slipped or damaged. For prevention, a gripping pad 130 made of resin such as rubber can be provided.

Further, in the present embodiment, as shown in FIGS. 3A, 3B, etc., the grip claws 110A and 110B are located near the grip claws 110A and 110B in the longitudinal direction of the power pole 1, and the grip claws 110A and 110B move the power pole 1 to the power pole 1. When the electric pole 1 is grasped, the electric pole 1 is grasped by the grasping claws 110A and 110B so that the electric pole 1 can be grasped at a predetermined central gripping position Y without slipping in the longitudinal direction of the electric pole 1. A pressing pad (pressing member according to the present invention) 140 for pressing toward the tip side 110A2, 110B2 side of the grip claws 110A, 110B is provided.

The base 141 of the pressing pad 140 is integrally supported by the base frame 101, and the pressing pad 142 connected to the base 141 is, as shown in FIG. When viewed, it has a substantially C-shape (or a F-shape), and when the gripping claws 110A and 110B grip the telephone pole 1 at a predetermined gripping position Y, a substantially C-shape (or a F-shape). The lower side of the shape (inside: the side with a small angle) is arranged so as to contact the outer periphery of the utility pole 1.
Therefore, when the gripping claws 110A and 110B grip the utility pole 1 at a predetermined gripping position, the gripping claws 110A and 110B (grasping pad 130) and the pressing pad 140 mainly cooperate to operate the utility pole 1 on the power pole 1. You will be holding.

The attachment position of the pressing pad portion 142 to the base portion 141 (projection amount Z from the base portion 141: see FIG. 3B) is configured to be adjustable according to the outer diameter of the utility pole 1 or the like. For example, as shown in FIG. 3(B), a hole in the support portion (outer side) of the base portion 141, and one of a plurality of holes 143 opened in the tubular portion on the side of the pressing pad portion 142 inserted into the base portion 141, By overlapping and inserting a pin or the like, the pressing pad portion 142 can be positioned with respect to the base portion 141 (adjustment of the protrusion amount Z) and can be engaged.

Alternatively, for example, the pressing pad portion 142 is screwed onto the support portion (outside) of the base portion 141, and the screwing position (tightening degree) is adjusted to position the pressing pad portion 142 with respect to the base portion 141. It is also possible to adopt a configuration that enables (adjustment of the protrusion amount Z).

Alternatively, a hydraulic mechanism or an elastic biasing mechanism (elastic spring mechanism) is provided between the support portion (outer side) of the base portion 141 and the pressing pad portion 142, and the electric pole 1 held by the holding claws 110A and 110B is predetermined. Alternatively, the pressure may be applied to the gripping claws 110A and 110B.

A portion of the pressing pad portion 142 in contact with the electric pole 1 may be provided with a pressing pad 144 made of resin such as rubber in order to prevent slippage and prevent damage to the electric pole.

Further, in the present embodiment, as shown in FIGS. 3A and 3B, the grip claws 110A and 110B are gripped near the grip claws 110A and 110B in the longitudinal direction of the electric pole 1. It is possible to provide a pressing roller 150 that presses the utility pole 1 in a direction away from the base frame 101 (from the proximal ends of the gripping claws 110A and 110B to the distal ends of the gripping claws 110A and 110B).

The pressure roller 150 may be provided instead of the pressure pad 140 or together with the pressure pad 140.

As shown in FIGS. 3(A) and 3(B), the pressing roller 150 has a base 151 integrally supported by the base frame 101, and the base 151 has an elastic biasing mechanism 152 interposed between the pressing roller 150 and the pressing roller unit. 153 is supported.

The pressing roller portion 153 is supported by the base portion 151 via the elastic biasing mechanism 152 so as to be vertically movable in FIGS. 3(A) and 3(B), and the tip end thereof is provided with a rotatable rotating roller 154. ing. The elastic biasing mechanism 152 includes an elastic spring 152A between the base 151 and the pressing roller 153, and resists the elastic biasing force of the elastic spring 152A when the pressing roller 153 approaches the base 151. Is configured to.

Therefore, when the gripping claws 110A and 110B grip the utility pole 1 at the predetermined gripping position Y, the pressing roller portion 152 (outer circumference of the rotating roller 154) is brought into contact with the outer circumference of the utility pole 1 with a predetermined pressing force. Has become. The elastic biasing mechanism 152 can also be a hydraulic mechanism.

Here, in the pressing roller 150 according to the present embodiment, the pressing roller portion 152 rotatably supports the rotating roller 154, but the pressing roller portion 152 is a centrifugal brake so that a predetermined rotation resistance is generated. The rotating roller 154 is rotatably supported via 155. As the centrifugal brake 155, for example, an easily available commercially available centrifugal brake (for example, an NS type centrifugal brake of "suntes" handled by Sanyo Shoji Co., Ltd.) can be adopted. In the NS type centrifugal brake, when the unit Assy, which is set inside the fixed drum and is integrally connected to the rotating shaft, is rotated, all the shoes rise due to centrifugal force. It has a structure in which the lining is pressed (pressurized) on the inner surface to generate a braking effect on the rotating shaft (see FIG. 6: model “NS9-3S”).

The capacity and braking force (rotational resistance) of the centrifugal brake 155 can be selected so as to be suitable for the weight of the electric pole 1 or the like, or can have a structure that can be variably set.

Here, in the present embodiment, the grip claws 110A, 110B (120A, 120B) of the grapple 100 are opened/closed by hydraulic pressure, and by this opening/closing operation, the utility pole 1 is gripped (closed state) or the utility pole 1 is released. The gripping pawls 110A, 110B and 120A, 120B are released by releasing the hydraulic pressure supplied to the gripping pawls 110A, 110B (120A, 120B) of the grapple 100. After weakening the gripping force of the gripper, again (immediately), the energization of the solenoid valve 311 is stopped and the valve is closed to recover the hydraulic pressure supplied to the gripping claws 110A, 110B and 120A, 120B of the grapple 100 to grip the gripper. The claws 110A, 110B and 120A, 120B are configured to be able to grip the utility pole 1 again.

In the present embodiment, this is because the gripping force of the gripping claws 110A, 110B and 120A, 120B of the grapple 100 is weakened in a state where the utility pole 1 is gripped substantially vertically, so that the utility pole 1 is moved by a predetermined amount by its own weight ( After a few millimeters to several tens of centimeters) (the predetermined amount can be appropriately changed according to the repetition cycle etc.), the gripping force of the gripping claws 110A, 110B and 120A, 120B is restored (immediately) again. Repeating the operation of holding the utility pole 1 and then lowering the grip force again to lower the utility pole 1 by a predetermined amount (about several millimeters to several tens of centimeters) by its own weight in a relatively short cycle. (In other words, the holding/releasing (or opening/closing of the gripping claw) of the utility pole 1 by the gripping claws 110A, 110B and 120A, 120B of the grapple 100 or the strength of the gripping force (holding/releasing the utility pole 1) is relatively performed. By repeating in a short cycle), while maintaining the height position of the grapple 100, only the gripped utility pole 1 is safely lowered, and the utility pole 1 is inserted into the building pole hole to build the pole (FIG. 1, FIG. 5)).

Therefore, in the present embodiment, as shown in FIG. 4, the hydraulic circuit 300 for opening and closing the grip claws 110A, 110B and 120A, 120B is provided with the pilot check valve bypass circuit 310.

That is, in order to prevent the grasping claws 110A, 110B and 120A, 120B from being opened by the own weight of the electric pole 1 that is being grasped, the hydraulic circuit 300 normally includes a pilot check valve 301 (a check valve or a check valve for safety). One-way valve) is provided.

Reference numeral 301A denotes a pawl opening side pilot check valve 301A provided in a passage communicating with the pawl opening side cylinder 330A of the drive actuator 330, and reference numeral 301B communicates with a pawl closing side cylinder 330B of the drive actuator 330. It is a pilot check valve 301B on the claw closing side which is interposed in the passage.
Reference numeral 340 is a safety relief valve for opening the valve at a predetermined hydraulic pressure to release the pressure in order to protect the hydraulic circuit.

Therefore, in an ordinary hydraulic circuit having such a pilot check valve, the operation required in the present embodiment, that is, in order to lower the utility pole 1 into the building pole hole, the hydraulic pressure is reduced (the gripping force is reduced). (Relaxed) state (that is, the movement of the grip claws 110A, 110B and 120A, 120B in the quick opening direction) and return to the hydraulic pressure rising state (that is, the grip state of the utility claws 110 of the grip claws 110A, 110B and 120A, 120B). It is difficult to perform a quick switching operation (switching in a relatively short cycle) between and.

The gripping force of the utility pole 1 by the gripping claws 110A, 110B and 120A, 120B of the grapple 100 (the gripping state of the utility pole 1 (the relative movement prohibition state of the utility pole with respect to the gripping claw) and the released state (relative to the gripping claw). In order to smoothly perform a quick switching operation (moving permission state) (switching operation in a relatively short cycle), in the present embodiment, as shown in FIG. 4, the hydraulic circuit 300 includes a pilot check valve bypass circuit. 310 and an electromagnetic valve 311 provided in the pilot check valve bypass circuit 310.

Then, in the present embodiment, the control device 320, which will be described later, controls each part in the following manner according to the instructions of the crane operator (operator, worker).
(1) When gripping the utility pole 1 With the solenoid valve 311 in a closed (closed) state, the electromagnetic proportional direction switching valve B, which is normally provided, is switched to the grip claw closing direction, and the grip claws 110A, 110B, etc. The drive actuator 330 (referred to) is moved in the closing direction (grasping direction). More specifically, the pressure on the claw opening side cylinder 330B side of the drive actuator 330 is increased, while the pressure on the claw closing side cylinder 330B side is increased.
(2) When the utility pole 1 is gripped with a predetermined gripping force, the electromagnetic proportional direction switching valve B is switched to the neutral position, and the state where the utility pole 1 is gripped is maintained. As a result, the holding state of the electric pole 1 at a predetermined pressure is maintained.
(3) While maintaining the above state, the crane or the like is operated to move the utility pole 1 to be built to the building pole hole 2.
(4) The solenoid valve 311 is switched from the closed state to the open state, and the pilot check valve 301B is bypassed.
As a result, a transition is made to a ready state for lowering the utility pole 1.
The reason for bypassing the pilot check valve 301B is to realize the operation of weakening (loosening) the gripping force of the claws (grip claws 110A, 110B, etc.). That is, the pilot check valve 301B is a one-way valve, and the pawl does not open unless the pressure of the pawl opening side cylinder 330A is higher than that of the pawl closing side cylinder 330B. Therefore, the pilot check valve 301B is connected to the oil passage communicating with the pawl closing side cylinder 330B. This is because it is necessary to bypass the mounted pilot check valve 301B and quickly remove the hydraulic pressure by a simple operation.
It is possible to increase the pressure of the claw opening side cylinder 330A by opening the pilot check valve 301B by applying a predetermined pilot pressure from the pilot pressure supply passage 301b to open the claws in an on-off manner. With this method, it is difficult to realize an operation of immediately recovering the gripping force of the gripping claws 110A, 110B, etc. in a short cycle when the gripping force is weakened (loosened) to a predetermined level (to a degree that allows the utility pole to be lowered). In the embodiment, the configuration in which the pilot check valve 301B is bypassed is adopted.
(5) Subsequently, while maintaining the state of (4), an operation for lowering the utility pole is performed.
As an example of the operation,
(5-1) The electromagnetic proportional direction switching valve B is switched to the claw closing direction (the side that supplies the hydraulic pressure to the claw closing side cylinder 330B), and the hydraulic proportional pressure (the amount of oil passing through) can be proportionally controlled. The grip force of the claw is adjusted (the pressure of the hydraulic circuit, the pressure of the claw closing side cylinder 330B) (the strength is repeated) to gradually lower the electric pole.
As another example,
(5-2) Switching the circuit by the electromagnetic proportional direction switching valve B (“switching the hydraulic pressure supply direction”, in other words, “switching between the claw closing direction and the claw opening direction”), the claws are opened and closed, and the utility pole is closed. Is gradually lowered (the switching between the claw opening direction and the claw closing direction is performed in a short time, so the claw movement is not an opening/closing operation but a movement like a repeated change in the grip strength). In this case, the electromagnetic proportional relief valve A can be omitted.

As described above, in the present embodiment, when the utility pole is lowered, the solenoid valve 311 is opened and the pilot check valve 301B on the claw-closing side is bypassed, and the solenoid proportional relief valve A is operated in a short cycle. By opening or closing or switching the hydraulic passage with the proportional direction switching valve B, the hydraulic pressure of the claw closing side cylinder 330B is lowered (the gripping force is loosened) (that is, the gripping claws 110A, 110B and 120A, 120B are opened in the quick opening direction). It is possible to perform quick switching (switching in a relatively short cycle) between the movement and the return to the hydraulic pressure rising state (that is, the holding state of the holding pawls 110A, 110B and 120A, 120B of the telephone pole 1). I have to.

The solenoid valve 311 is a solenoid valve for bypassing the pilot check valve 301 and is normally closed in a power-off state. However, when the utility pole is lowered, it is energized and opened. The pilot check valve 301 can be disabled (bypassed to release the hydraulic pressure instantaneously). However, it is also possible to employ the solenoid valve 311 configured to be closed when the power supply is on.

Here, in order to perform a quick switching operation (switching operation in a relatively short cycle) of holding/releasing the gripping force of the electric pole 1 by the gripping claws 110A, 110B and 120A, 120B of the grapple 100 (gripping/releasing of the electric pole 1). The control device 320 executes control of the opening/closing operation cycle of the solenoid valve 311 and the valve opening time per one time. It is possible to adopt a configuration that can be appropriately selected in consideration of the specifications of the telephone pole 1, the required descent rate, and safety. The control device 320 may be a unique control device (including various memories such as CPU, ROM, RAM, and various input/output interfaces), but the grip claws 110A, 110B and 120A, 120B. It can also be an additional function of the control device that controls the normal holding and releasing of the gripping force of the telephone pole 1 by

In the present embodiment, in the building pole vehicle 200 including the grapple (grasping device) 100 and the hydraulic circuit 300 as described above, the electric pole is planted according to the following procedure (step).
<Step 1>
In step 1, the outer periphery of the center of gravity (or the vicinity thereof) in the longitudinal direction of the electric pole 1 is grasped by the grasping claws 110A, 110B and 120A, 120B of the grapple 100 attached to the tip of the tip side boom 212B (FIG. 1). , Etc.).

<Step 2>
In the subsequent step 2, operations such as turning, undulating and extending/contracting the boom 212, a relative angular position (tilt angle) around the fourth joint 210D with respect to the tip side boom 212B of the grapple 100, and a longitudinal center axis X rotation of the tip side boom 212B. The utility pole 1 is lifted while manipulating the rotation angle etc. of the utility pole, and the utility pole 1 is brought almost vertically, and the utility pole 1 being held is held up to the position of the predetermined building pole hole 2 while keeping the utility pole substantially vertical. To move. Alternatively, it is also possible to move the utility pole 1 to a predetermined position of the building pole 2, then bring the utility pole 1 substantially vertically, and keep the utility pole substantially vertical.

<Step 3>
Subsequently, in step 3, the control device 320 opens the solenoid valve 311 of the hydraulic circuit 300 and maintains the pawl closed side pilot check valve by the above-described method while keeping the electric pole 1 substantially vertical. With 301B bypassed, the electromagnetic proportional relief valve A is opened/closed or the proportional directional switching valve B is used to switch the hydraulic passage in a short cycle to reduce the hydraulic pressure in the claw closing cylinder 330B (releasing the gripping force). (I.e., the movement of the grip claws 110A, 110B and 120A, 120B in the quick opening direction) and the return to the hydraulic pressure rising state (that is, the grip state of the utility claws 110A, 110B and 120A, 120B of the utility pole 1), Perform quick switching (switching in a relatively short cycle).
That is, the gripping force of the utility pole 1 by the gripping claws 110A, 110B and 120A, 120B of the grapple 100 (the gripping state of the utility pole 1 (the relative movement prohibition state of the utility pole with respect to the gripping claw) and the released state (relative movement of the utility pole with respect to the gripping claw). The rapid switching of (permission state)) is repeated in a short cycle (see FIG. 5).

As described above, in the present embodiment, the control device 320 weakens the gripping force of the grip claws 110A, 110B and 120A, 120B of the grapple 100 in a state of gripping the power pole 1 in a substantially vertical direction, and thus the power pole 1 When it is lowered by a predetermined amount (about several millimeters to several tens of centimeters) by its own weight, the gripping force of the gripping claws 110A, 110B and 120A, 120B is restored (immediately) again to grip the utility pole 1, and then grip again. By repeating the operation of lowering the power pole 1 by a predetermined amount (several millimeters to several tens of centimeters) by weakening the force by a relatively short cycle (by the gripping claws 110A, 110B and 120A, 120B of the grapple 100). While holding/releasing the gripping force of the utility pole 1 or repeating (holding/releasing the utility pole 1 repeatedly), only the gripping utility pole 1 is gradually and safely lowered while maintaining the height position of the grapple 100. Then, the utility pole 1 is inserted substantially vertically into the building pole hole 2 for planting (see FIGS. 1 and 5).
In the present embodiment, gradually lowering means intermittently or intermittently lowering the electric pole for each predetermined amount (relative movement of the electric pole with respect to the grip claw) in a relatively short cycle.
Thereafter, earth and sand or the like is put into the gap between the building pole hole 2 and the utility pole 1 to be pressed and solidified, and the planting of the utility pole 1 by the building pole vehicle 200 including the grapple (grasping device) 100 and the hydraulic circuit 300 is completed.

According to the method of planting the electric pole of the electric pole vehicle 200 including the grapple 100 according to the work procedure described above, the grapple 100 is not moved while the electric pole 1 is being held substantially vertically (the height of the grapple 100 is high). (Without changing the position), holding and releasing the gripping force of the utility pole 1 of the gripping claws 110A, 110B and 120A, 120B of the grapple 100 (gripping and releasing of the utility pole 1) is repeated in a relatively short cycle. 1 can be gradually and intermittently (stepwise) lowered by its own weight (by gradually changing the relative position between the gripping claws 110A, 110B and 120A, 120B and the telephone pole 1 by the own weight of the telephone pole 1). Therefore, the utility pole 1 can be safely, quickly and smoothly planted in the building pole hole.

Therefore, according to the present embodiment, it is possible to easily and safely build a columnar member such as a utility pole even when there is an obstacle or when working in a narrow space, and at the same time, to perform a columnar work such as a utility pole. It is possible to provide a gripping device (grapple) for a columnar member and a vehicle including the gripping device, which can improve work efficiency and work safety without damaging members.

In addition, according to the method of planting electric poles of the building pole vehicle 200 including the grapple 100 according to the present embodiment, unlike the case where the conventional digging pillar truck 10 is used (when the boom and the winch are used). Since the utility pole itself is directly gripped by the grapple, it is efficient because it is not necessary to perform a complicated and time-consuming slinging work.

Further, according to the method of planting electric poles of the building pole vehicle 200 including the grapple 100 according to the present embodiment, as compared with the case of using the conventional digging pillar truck 10 (when using the boom and winch). Therefore, since the utility pole is not moved to the position of the building pole in an unstable state where the utility pole is hung with a suspender, there is no risk of the utility pole shaking and it is safe, and it is possible to omit the attendant worker. is there.

Further, according to the method for planting the electric pole of the building pole vehicle 200 including the grapple 100 according to the present embodiment, the function of changing the relative angular position (tilt angle) of the grapple 100 with respect to the boom 212 around the fourth joint 210D ( It is also possible to move the utility pole 1 substantially horizontally with respect to the ground surface by the tilt function). Therefore, even when the electric wire 7 and the like are congested in the sky, the utility pole can be constructed without contacting the electric pole with the electric wire. Since it can be moved to the position of the pole hole, the work efficiency can be significantly improved, which can contribute to shortening the work time for planting/extracting poles (shortening the construction period).

Then, according to the method of planting the utility pole of the building pole vehicle 200 including the grapple 100 according to the present embodiment, there is a case where the utility pole is planted over a relatively tall obstacle such as a fence. However, since the utility pole can be lowered substantially vertically while keeping the position of the grapple 100, it is possible to avoid the conventional fear that the boom interferes with the obstacle and it becomes impossible to perform the building pole. it can.

In the present embodiment, the grip claws 110A of the grapple 100 without moving the grapple 100 (without changing the height position of the grapple 100) in a state where the utility pole 1 is gripped substantially vertically. By holding and releasing the gripping force of the utility pole 1 of 110B, 120A, and 120B (grasping and releasing of the utility pole 1) in a relatively short cycle, the utility pole 1 is gradually lowered (stepwise) by its own weight. (The relative position between the gripping claws 110A, 110B and 120A, 120B and the utility pole 1 is gradually changed by the weight of the utility pole 1), but this relatively short cycle (time period) is the specification of the utility pole 1 (size, The electric pole 1 can be appropriately changed depending on the weight, material, shape, etc.

Further, in the present embodiment, it is not limited to the case where the utility pole 1 is lowered substantially vertically, but it is also possible to lower the utility pole 1 in the direction intersecting with the vertical direction at a predetermined angle.

In this embodiment, the pressing roller 150 is provided, and the rotating roller 154 and the centrifugal brake 155 can apply a predetermined braking force to the utility pole 1. Therefore, the predetermined braking force causes the grapple to move. When the utility pole 1 is lowered by repeating the holding/release of the gripping force of the 100 holding claws 110A, 110B and 120A, 120B of the power pole 1 (holding/release of the power pole 1) in a relatively short cycle, the power pole 1 is lowered. Can be braked and its descent speed can be limited (controlled) as desired.
That is, the pressing roller 150 according to the present embodiment can be used as a speed reducing mechanism or a slow moving mechanism.

By the way, since the pressing roller 150 is provided and a predetermined braking force can be applied to the electric pole 1 by the rotating roller 154 and the centrifugal brake 155, depending on the conditions, the gripping claws 110A, 110B and 120A of the grapple 100 are provided. , 120B by weakening the gripping force of the electric pole 1 to a predetermined level, the electric pole 1 can be lowered by its own weight while applying a brake with the predetermined braking force. Then, by adjusting the magnitude of the predetermined braking force and the degree to which the gripping force of the gripping claws 110A, 110B and 120A, 120B on the utility pole 1 is weakened, the descending speed of the utility pole 1 can be limited (controlled) as desired.

Here, the fall of the utility pole 1 according to the present embodiment due to its own weight will be described with reference to FIG.
In the present embodiment, when the gripping force of the utility pole 1 of the gripping claws 110A and 110B of the grapple 100 is weakened to a predetermined level, the spacing S (see FIG. 3(A)) between the tip ends 110A1 and 110B1 of the gripping claws 110A and 110B becomes smaller. It will spread a little.

At this time, the utility pole 1 tries to descend by its own weight, but the pressure pad 140 (or/and the pressure roller 150) abuts (acts) on the outer periphery of the utility pole 1 to move the utility pole 1 to the base frame 101 (the gripping claw 110A, Since the base end sides 110A1 and 110B1 of 110B are pressed toward the tip ends (open ends) 110A2 and 110B2 of the gripping claws 110A and 110B, the utility pole 1 acts as a pressing pad 140 (or/and a pressing roller 150). , The sliding descent pad 131 provided on the tip side of the grip claws 110A and 110B is pressed against the sliding claws 110A and 110B, so that the descent of the utility pole 1 can be braked. Is restricted, and the utility pole 1 can be lowered at a safe speed.

On the other hand, when stopping the fall of the utility pole 1 and gripping the utility pole 1 at that position, the gripping force of the gripping claws 110A, 110B (or 120A, 120B) of the grapple 100 of the utility pole 1 is strengthened, and the utility pole 1 Although the descent of the electric pole 1 is stopped by firmly grasping, the space S between the tip ends 110A1 and 110B1 of the grasping claws 110A and 110B is narrowed at this time.

As a result, the electric pole 1 comes into contact with and is pressed by the holding pad 130 and/or the pressing pad 140 (or/and the pressing roller 150) provided in the substantially central portion of the holding claws 110A and 110B. The fall of the electric pole 1 is stopped safely and surely, and the electric pole 1 is surely gripped by the grapple 100.

In the present embodiment, as shown in FIG. 3(A), the pair of left and right gripping pads 130 provided in the substantially central portions of the gripping claws 110A and 110B are as shown in FIG. Since the contact portion (contact center) is located on the opposite side of the pressing pad 140 (or/and the pressing roller 150) across the horizontal line passing through the center of gravity Y of the electric pole 1, the electric pole 1 It is possible to stably and surely grip.

That is, in the present embodiment, when the electric pole 1 is gripped, the gripping force of the electric pole 1 of the gripping claws 110A, 110B (or 120A, 120B) of the grapple 100 is strengthened so that the substantially central portion of the gripping claws 110A, 110B. The pair of left and right gripping pads 130 and the pressing pad 140 (or/and the pressing roller 150) provided firmly grips the outer periphery of the electric pole 1 to securely and surely hold the electric pole 1. ,
When the utility pole 1 is lowered, the gripping force of the utility pole 1 of the gripping claws 110A, 110B (or 120A, 120B) of the grapple 100 is weakened, so that a pair of left and right grips 110A, 110B provided on the tip side of the gripping claws 110A, 110B are provided. With the sliding descent pad 131 and the pressing pad 140 (or/and the pressing roller 150), the outer circumference of the electric pole 1 is gripped weakly to the extent that the electric pole 1 can descend by its own weight, thereby decelerating predeterminedly. The utility pole 1 can be safely lowered.

Here, the pressing pad 140 and the pressing roller 150 according to the present embodiment reduce the gripping force of the gripping claws 110A and 110B from the state where the gripping claws 110A and 110B are gripping the utility pole 1, and the power pole 1 is moved to the corresponding position. This is equivalent to an example of a speed reduction mechanism according to the present invention, that is, a speed reduction mechanism that limits the descending speed of the utility pole 1 by braking it by abutting against the utility pole 1 when it is lowered in the longitudinal direction.

In addition, although the case where the gripping claws 110A, 110B and 120A, 120B are provided is illustrated in the present embodiment, the invention is not limited to this, and only the gripping claws 110A, 110B or only the gripping claws 120A, 120B are provided. It is also possible to have a configuration provided.

By the way, when the utility pole 1 is gripped by the gripping claws 110A, 110B and 120A, 120B of the grapple 100 as in the present embodiment, the utility pole 1 is placed on the opposite side of the building pole vehicle 200 with a wall, a fence or the like being sandwiched therebetween. In the case of building a plant, since the utility pole 1 can be erected substantially vertically after the utility pole 1 is laid down in a substantially horizontal state and after passing over a wall or a fence, according to the present embodiment, Unlike the case of the digging pole vehicle 10 (when a boom and winch are used), it is possible to reduce the lift of the crane because the utility pole is not lifted up substantially vertically to cross the wall or fence. Therefore, it can contribute to the reduction in size and weight of the crane and, in turn, to the reduction in size and weight of the vehicle with a pillar.

Subsequently, another example according to the present embodiment will be described.
Here, the configuration other than the grapple (grasping device) is the same as the configuration described in the first embodiment, so a detailed description thereof will be omitted.

As shown in FIGS. 7A to 7D, the grapple (grasping device) 400 according to the present embodiment includes grip claws 110A, 110B and 120A, 120B similar to the grapple 100 of the first embodiment. The grip claws 110A and 110B are supported by the split frame 401, while the grip claws 120A and 120B are supported by the split frame 402. It should be noted that one of the divided frames 401 or 402 is supported at the tip of the tip boom 212B via the fourth joint 210D.

The divided frame 401 and the divided frame 402 are configured separately, and the slide guide 401A on the divided frame 401 side and the slide guide 402A on the divided frame 402 side are slidably inserted and held. 7B to 7D, the outer peripheral side of the slide guide 401A is fitted inside the slide guide 402A and is configured to be movable in the longitudinal direction (longitudinal direction of the utility pole 1) with respect to each other.

Further, an expandable actuator 410 such as a hydraulic cylinder is provided between the divided frames 401 and 402, the piston side which is a movable part is connected to the divided frame 401, and the cylinder side which is a fixed part is the divided frame. It is connected to 402.

Therefore, when the hydraulic pressure is supplied to the actuator 410 to extend the length of the actuator 410, the interval (relative distance) between the divided frames 401 and 402 is controlled to be large (long), and the hydraulic pressure is supplied to the actuator 410. Is released to reduce the length of the actuator 410 to the original position (the elastic force of a spring or the like can be used to return to the original position), the distance between the divided frames 401 and 402 (relative distance) becomes smaller. It is configured to be controlled to be small (short).

It should be noted that since the grip claws 110A and 110B are supported by the divided frame 401 and the grip claws 120A and 120B are supported by the divided frame 402, the interval (relative distance) between the divided frames 401 and 402 is increased. Control is performed so that the interval (relative distance) between the grip claws 110A and 110B and the grip claws 120A and 120B becomes large (long), and the interval (relative distance) between the divided frames 401 and 402 becomes small ( When controlled to be shorter, the distance (relative distance) between the grip claws 110A and 110B and the grip claws 120A and 120B is controlled to be smaller (shorter).

In the present embodiment provided with the grapple 400 having such a configuration, when the utility pole 1 is lowered (corresponding to step 3 above) at the time of building the utility pole 1, the grapple 400 is operated as follows. Steps 1 and 2 are the same as those in the second embodiment.

That is, when the electric pole 1 is lowered from the state where the electric pole 1 is gripped in a substantially vertical direction, the second embodiment operates as follows. Although the control of the operation is executed by the control device 420, the control device 420 may be an independent control device, but the normal holding/release of the gripping force of the utility pole 1 by the gripping claws 110A, 110B and 120A, 120B. It can also be an additional function of the control device that controls
In step 10, the gripping claws 110A, 110B and 120A, 120B of the grapple 400 are gripping the utility pole 1 substantially vertically, and one pair of gripping claws of the two pairs, that is, the gripping claw 110A, The gripping force of 110B (or 120A, 120B) is weakened, and the actuator 410 is driven to increase the distance (relative distance) between the gripping claws 110A, 110B and the gripping claws 120A, 120B as shown in FIG. 7D. The grasping claws 110A and 110B are raised so as to be (longer) (see FIG. 7D).

Then, in step 11, in this state, the gripping force of the gripping claws 110A and 110B is restored, and the utility pole 1 is gripped substantially vertically (or at the same time) by the gripping claws 110A and 110B, and then the gripping claws 120A, The gripping force of 120B is weakened, the actuator 410 is released from driving, and the gripping claws 110A and 110B and the utility pole 1 are lowered by the self-weight of the utility pole 1 and the contraction operation of the actuator 410.

In the next step 12, when the utility pole 1 is lowered by a predetermined amount, the gripping force of the grip claws 120A and 120B is restored, and the utility pole 1 is gripped substantially vertically by the grip claws 110A and 110B and the grip claws 120A and 120B.

After that, similarly to step 10, the gripping force of the gripping claws 110A and 110B is weakened, and the actuator 410 is driven to increase the distance (relative distance) between the gripping claws 110A and 110B and the gripping claws 120A and 120B (long). The gripping claws 110A and 110B are lifted so as to become (see FIG. 7D).
By repeating the processes (operations) of steps 10 to 12 as described above, also in the second embodiment, only the utility pole 1 being held is safely lowered while maintaining the height position of the grapple 400. A utility pole 1 can be inserted into the to build a building pole.

That is, according to the method of planting the electric pole of the electric pole vehicle 200 having the grapple 400, the grapple 400 is not moved (the height position of the grapple 400 is changed while the electric pole 1 is being held substantially vertically). Without moving), by moving the gripping claws 110A, 110B and the gripping claws 120A, 120B of the grapple 400 in the longitudinal direction of the utility pole 1 in an operation like a shakutai insect, the utility pole 1 is intermittently (stepwise) gradually. Therefore, the utility pole 1 can be safely, promptly and smoothly planted in the building hole.

That is, here, the control device 420 causes the first gripping member (one of the gripping claws 120A and 120B of the gripping claws 110A and 110B corresponds to an example) and the second gripping member (grips of the gripping claws 110A and 110B). From the state in which the other of the claws 120A and 120B corresponds to one example) to grip the columnar member (the utility pole 1 corresponds to one example), the gripping force of the first gripping member is weakened to the second gripping member. After moving the first gripping member along the longitudinal direction of the columnar member so that the relative distance between the first and second gripping members becomes large or small (the movement can use the driving force of the actuator), the first gripping member is moved. The gripping force of the gripping member is recovered, and thereafter, the gripping force of the second gripping member is weakened and the first gripping member is pillar-shaped so that the relative distance to the second gripping member becomes small or large. The columnar member in the gripping device for the columnar member is repeated by repeating the operation of moving the member along the longitudinal direction (the movement can utilize the weight of the columnar member or at least one of the driving force of the actuator). By changing the relative gripping position of the columnar member, for example, the columnar member can be gradually lowered intermittently (stepwise), so that the columnar member can be safely, quickly and smoothly built in the building column hole. Can be planted.

In the second embodiment, the electric pole 1 is changed only by the driving force of the actuator 410 without using the own weight of the electric pole 1, and the relative positions of the grapple 400 with respect to the grip claws 110A and 110B and the grip claws 120A and 120B are changed. Therefore, even when the utility pole 1 is maintained horizontally, the utility pole 1 is held horizontally while the utility pole 1 is held by the grip claws 110A and 110B and the grip claws 120A and 120B of the grapple 400. It is possible to move relative to.

In the second embodiment, the relative position of the electric pole 1 to the gripping claws 110A and 110B and the gripping claws 120A and 120B of the grapple 400 is changed only by the driving force of the actuator 410 without using the own weight of the power pole 1. Since it is also possible, even when the electric pole 1 is pulled out (raised) upward from the building pole hole 2, while holding the grip claws 110A and 110B and the grip claws 120A and 120B of the grapple 400 at predetermined positions, The utility pole 1 can be safely and quickly pulled out (dismounted).

Therefore, according to the present embodiment, even when there is an obstacle or when working in a narrow space, it is possible to easily and safely build and remove pillar members such as utility poles, and to implement utility poles. It is possible to provide a gripping device (grapple) for a columnar member and a vehicle equipped with the gripping device, which can improve work efficiency and work safety without damaging the columnar member.

In addition, according to the method of planting electric poles of a building pole vehicle including the grapple 400 according to the present embodiment, as in the case of the first embodiment, when the conventional digging construction pillar car 10 is used (using a boom and a winch). In contrast to the above case), the utility pole itself is directly gripped by the grapple, which is efficient without the need for complicated and time-consuming slinging work.

Further, according to the method of planting electric poles of a building pole vehicle including the grapple 400 according to the present embodiment, as in the case of the first embodiment, when the conventional digging construction pillar car 10 is used (using a boom and a winch). Compared with the case of (), the utility pole is not moved to the building hole position in an unstable state with the utility pole hung, so there is no danger of the utility pole shaking and it is safe, and an attendant is omitted. It is possible to

Further, according to the method of planting the electric pole of the building pole vehicle including the grapple 400 according to the present embodiment, the relative angular position (tilt angle) around the fourth joint 210D with respect to the boom 212 of the grapple 400 is similar to the first embodiment. ) Change function (tilt function), it is possible to move the utility pole 1 substantially horizontally with respect to the ground surface. Therefore, even when the electric wires 7 and the like are congested in the sky, the electric poles can be brought into contact with the electric wires and the like. It is possible to move the utility pole to the position of the building pole without having to do so, and it is possible to significantly improve the work efficiency, which can contribute to shortening the work time for planting and removing the utility pole (shortening the construction period). Is.

Then, according to the method of planting a utility pole of a building vehicle equipped with the grapple 400 according to the present embodiment, the utility pole is planted over a relatively tall obstacle such as a fence, as in the first embodiment. Even in such a case, the utility pole can be lowered almost vertically while keeping the position of the grapple, so that the conventional fear that the boom interferes with the obstacle and it becomes impossible to perform the building pole. It can be avoided.

In the present embodiment, the gripping claws 110A, 110B and the gripping claws 120A, 120B of the grapple 400 are moved in the longitudinal direction of the utility pole 1 by an action like a shingling insect. It can be appropriately changed according to (size, weight, material, shape) and the like so that the utility pole 1 can be favorably lowered.

In addition, in the above-mentioned embodiment, although the electric pole was described as a target of building (a target of a building pillar), the present invention is not limited to this, and other pillar members such as a mast, a pole, and a chimney can be used. The material of the columnar member is not limited to wood, concrete, resin, metal or the like. Also, the cross-sectional shape of the columnar member (the cross-sectional shape of the cross section orthogonal to the longitudinal direction) is not limited to the case where the outer circumference is circular, and is not limited to the case where it is a triangle, a quadrangle, or a polygonal shape larger than that. The present invention is also applicable. The present invention is applicable not only to the case where the columnar member is solid, but also to the case where the columnar member has a hollow shape with a void inside.

As the gripping pad 130, the pressing pad 140, and the pressing pad 144, and a pad made of resin such as rubber can be applied to the outer periphery of the rotary roller 154, but a metal pad or the like may be used. it can.

In the above embodiment, the grip claws 110A and 110B and the grip claws 120A and 120B are examples of the grip member according to the present invention, or one of the grip claws 110A and 110B or the grip claws 120A and 120B is the first grip. As an example of the member, the other of the gripping claws 110A and 110B or the gripping claws 120A and 120B has been described as an example of the second gripping member, but the present invention is not limited to these and grips the columnar member. The shapes of the gripping claws 110A and 110B and the gripping claws 120A and 120B are not particularly limited as long as the above can be achieved.

Further, in the present embodiment, the case where hydraulic pressure is used for the actuators that drive the gripping claws 110A and 110B and the gripping claws 120A and 120B is illustrated, but the present invention is not limited to this, and other types such as air can be used. It is possible to use an actuator that uses the fluid pressure described above, or a combination of an electric motor and a gear mechanism.

Further, in the present embodiment, the pillar vehicle 200 has been described by exemplifying a vehicle such as a truck that is capable of self-propelling, but the present invention is not limited to these, and a tow vehicle can be used to pull the vehicle. It is applicable to vehicles including a towed vehicle that moves.

The vehicle according to the present invention is not limited to a building pillar vehicle in which a columnar member is planted in a building pillar hole, but a vehicle that handles the pillar member using the gripping device according to the present invention (such as a working vehicle). However, the present invention can be applied.

The embodiment described above is merely an example for explaining the present invention, and various changes can be made without departing from the scope of the present invention.

1 Utility poles (columnar members, rod-shaped members)
2 Building pillar holes 6 Electric wires, etc. (obstacles)
100 grapple (holding device) (hydraulic control system)
101 base frame 110A, 110B gripping claw (gripping member)
120A, 120B Grip claw (grip member)
130 gripping pad 140 pressing pad (pressing member)
142 pressing pad part 144 pressing pad 150 pressing roller 151 base part 152 elastic biasing mechanism (elastic spring mechanism)
152A Elastic spring 153 Pressing roller part 154 Rotating roller 155 Centrifugal brake 200 Building pillar vehicle 201 Body (frame)
210 crane 210D 4th joint 211 swivel base (swivel base)
212 Boom 300 Hydraulic Circuit 301 Pilot Check Valve 310 Pilot Check Valve Bypass Circuit 311 Solenoid Valve 320 Control Device 330 Drive Actuator (Opening/Closing Drive of Grasp Claw)
400 grapple (holding device)
401 divided frame 402 divided frame 401A slide guide 402A slide guide 410 actuator

Claims (2)

A gripping device for a columnar member, which grips the outer periphery of a columnar member from a direction substantially orthogonal to the longitudinal direction of the columnar member,
A pair of first gripping members facing each other across the longitudinal center axis of the columnar member so that the outer circumference of the columnar member can be gripped;
The first gripping member is arranged at a different position in the longitudinal direction of the columnar member, and the relative distance between the first gripping member and the first gripping member is expandable and contractable so that the outer periphery of the columnar member can be gripped. A pair of second gripping members facing each other on both sides of the central axis of the columnar member in the longitudinal direction;
A control device that controls the gripping force of the columnar member by the first gripping member and the second gripping member, and changes and controls the relative distance between the first gripping member and the second gripping member.
Is composed of
The control device weakens the gripping force of the first gripping member from the state of gripping the columnar member by the first gripping member and the second gripping member, After moving the first gripping member along the longitudinal direction of the columnar member so that the relative distance becomes large or small, the gripping force of the first gripping member is restored, and then the second gripping member is restored. By repeating the operation of moving the first gripping member along the longitudinal direction of the columnar member such that the gripping force of the gripping member is weakened and the relative distance to the second gripping member becomes smaller or larger, A holding device for a columnar member, characterized in that a relative holding position of the columnar member in the holding device for the columnar member is changed. A vehicle comprising the columnar member gripping device according to claim 1.