JPH0715913Y2 - Control device for grip-type digging column work vehicle - Google Patents

Description

[Detailed Description of Device] a. Purpose of the Invention (Field of Industrial Use) The present invention is equipped with a boom digging device (auger device) and a gripping device on a boom that can be undulated, expanded and contracted, etc., and can perform digging work with the digging device. The present invention relates to a grip-type digging pillar work vehicle capable of gripping a utility pole or the like by a gripping device or a work table.

(Prior Art) In the work of building poles such as utility poles, a work vehicle conventionally called a digging pillar vehicle has been used. This work vehicle has a digging device (auger device) and a crane device for suspending a utility pole, and digs a building pillar with an auger device.
Next, the utility pole was hung by a crane and the utility pole was installed in the dug hole.

When the building pole is completed in this way, the work of pulling wires over the power poles is performed.In the past, however, this work of pulling wire was carried out at the tip of a boom that can be swung, raised, retracted, etc. It was carried out using an aerial work vehicle equipped with a work platform for boarding. However, since this requires two work vehicles, a digging column and a work platform, the applicant has installed an auger device on the boom and grasped the boom tip with a flexible arm. We devised a work vehicle with the device attached. This gripping device is capable of gripping utility poles and work vehicles, and building pole work is performed by gripping utility poles by the gripping device, and work at high places such as wire drawing work is performed by gripping the work platform by the gripping device. I am supposed to do it.

In such a work vehicle, boom undulation, extension / contraction operation, arm bending / extension operation, gripping device swinging operation, etc. are performed in response to manual mode control by operator's lever operation, for example, boom boom undulation operation. , An automatic vertical movement mode control for vertically moving a digging device or a gripping device.

(Problems to be solved by the invention) In the case of such a work vehicle, a digging mode in which a digging device is used for digging work, a building pole mode in which a utility pole is gripped by a gripping device, and a gripping device Thus, the work is performed by selecting one of the high altitude modes in which the work is held and the work is performed. In this case, the required value (optimum value) of the boom undulation and extension / extension operating speed, the digging device operating speed, the arm bending / extending speed, and the gripping device swinging speed for each of these modes.
There is a problem that they are different.

The present invention has been made in view of such a problem, and it is an object of the present invention to set an optimum operating speed for each mode so that optimum control can always be performed.

B. Configuration of the Invention (Means for Solving the Problems) Therefore, in the control device according to the present invention, the object to be grasped, such as a utility pole, is grasped by a digging mode in which digging is performed by the digging device and a grasping device. A mode selecting means for selecting any one of a building column mode for performing work and a high-altitude mode for performing work by gripping a work table by a gripping device;
Corresponding to each of these modes, operating speed storage means for preset and storing boom undulation and extension / extension operating speed, digging device operating speed, arm bending / extending speed and gripping device swinging speed, and the boom and digging An operation control means for controlling the operation of the device, the arm and the gripping device. When any mode is selected by the mode selection means, each operation speed corresponding to this selection mode is stored in the operation speed storage means. Based on the read operating speed, the operation control of the boom, the digging device, the arm and the gripping device is performed.

(Operation) When the operation control is performed using such a control device, each operation is performed at an optimum operation speed preset for each mode, and the optimum control is always performed.

(Embodiment) Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.

First, as shown in FIGS. 1A and 1B, outriggers 3 are provided at four positions in front, rear, left, and right of a vehicle body 2 of a work vehicle 1 for gripping digging and building pillars.
Are installed respectively, and when performing work, these are extended and the vehicle body 2 is installed horizontally on the ground. A swivel base 4 is mounted on the rear portion of the vehicle body 2, and the swivel base 4 is freely swiveled by the operation of a swivel motor (not shown). The boom 5 attached to the swivel base 4 is composed of a base end side member 5a and a distal end side member 5b capable of expanding and contracting thereto, and the base end side member 5a of the boom 5 is pivotally attached to the swivel base 4, The entire boom 5 is hoisted by the expansion / contraction operation of the hoisting cylinder 5c, and the tip side member 5b is also operated by the telescopic operation of the telescopic cylinder (not shown) provided in the boom 5.
Is expandable and contractible. Further, the swivel base 4 is provided with a cabin 4a for a worker to board and operate each actuator.

On the other hand, an auger device (drilling device) 6 is attached to the tip of the base end member 5a of the boom 5. The auger device 6 is composed of an auger drill 6a and an auger motor 6b, the upper end of the auger drill 6a is connected to the output shaft of the auger motor 6b, and the upper part of the auger motor 6b is suspended on the boom 5. In addition, the auger device 6 is attached to the boom
It is also possible to fix it to the tip side member 5b, and in this case, the auger device 6 moves as the boom 5 expands and contracts. However, FIGS. 1A and 1B show the storage state when the auger device is not used.
Is attached to the base end side member 5 a of the boom 5. When performing a digging operation using the auger device 6, first, attach the auger device 6 to the tip side member 5b of the boom 5, move the auger device 6 to an arbitrary position by extending the boom 5, and the like. First, the auger device 6 is lowered so as to be perpendicular to the ground, and the auger motor 6b is rotated (see A in FIG. 4).

The gripper arm is attached to the tip of the tip side member 5b of the boom 5.
A gripper (grasping device) 7 is attached via 7a and a joint member 7c. The gripper 7 is capable of bending and extending with respect to the boom 5 centering on a connecting portion with the boom tip portion by expanding and contracting operation of a bending and stretching cylinder 7b attached between the gripper arm 7a and the tip portion of the boom 5. .

A bucket (workbench) 8 for working at high places, which will be described later, is fixed to the right front part of the vehicle body 2 by a band 8a, and the bucket 8 can be used by removing the band 8a.

Further, utility pole pedestals 9 are provided on the front and rear portions of the vehicle body 2, respectively, on which utility poles can be placed for transportation.

Next, referring to FIGS. 2A, 2B and 2C, the gripper 7
The configuration of will be described.

These figures are a top view, a side view, and a cross-sectional view taken along the plane FF, respectively, showing the periphery of the gripper 7.

The gripper 7 includes a pair of grip members 71 for gripping a utility pole, a gripper cylinder 72 for opening and closing the grip member 71, a grip member 71 and a gripper cylinder 72.
And a link mechanism (which is composed of two link members 74 and a guide member 75 in a Y shape) for connecting the gripper cylinder 72 and the right side of the drawing (on the side of the grip member 71).
And a gripper housing 73 that is provided so as to extend in the direction.

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

In the gripper 7 having such a structure, when the gripper cylinder 72 is extended, the grip member 71 is pushed open outward around the fulcrum 71b, and when the gripper cylinder 72 is contracted, the grip member 71 is centered around the fulcrum 71b. For example, the electric pole 90 and the columnar gripped member 83 of the bucket 8 to be described later are gripped by being closed inside.

Since the guide member 75 is guided by the gripper housing 73, the grip member 71 is symmetrically opened and closed.

Further, in order to grip a comparatively small-diameter member such as the columnar gripped member 83, the grip member 71 is provided with notches 71e and 71e 'at the tip end thereof in a staggered manner.
The tips of the can intersect.

On the other hand, a cylindrical member 76 is attached so as to cover the prismatic portion of the gripper housing 73 (see FIGS. 2B and 2C), and further, the cylindrical member 76 is inserted in the cylindrical rotation support member 77. It penetrates and is rotatably attached to this. Further, a worm wheel 78 is attached to the outer periphery of the side surface of the cylindrical member 76 concentrically with the cylindrical member 76, and is rotatably attached to the worm wheel 78 and a support member 77a attached to the outside of the rotation support member 77. When the gripper rotation motor 79a connected to the worm pinion 79 is rotated, the worm wheel 78, that is, the gripper 7 is rotated with respect to the rotation support member 77. (For example, the gripper 7 rotates 90 ° until the state shown by the chain double-dashed line E in FIG. 2B is reached).

As shown in FIGS. 2B and 2C, the rotation support member 77 is supported by the joint member 7c so that its side surface is sandwiched from above and below and is swingable around its support point.
Also, the horizontal swing cylinder 7d is attached to the lower end of the joint member 7c.
Is pivoted on its side surface, and the piston rod of this horizontal swing cylinder 7d pushes or pulls the swinging member 77b fixed to the supporting member 77a, so that the gripper 7 moves to the 2A position.
From the position shown by the chain double-dashed line A in the figure to the position shown by the same B, it is swingable in the left-right direction, that is, it is swingable horizontally.

Further, the joint member 7c is pivotally attached to the tip of the gripper arm 7a, and the joint member 7c, that is, the gripper 7, is moved by the expansion and contraction operation of the vertical swing cylinder 7e attached between the joint member 7c and the gripper arm 7a. From the position indicated by the chain double-dashed line C in FIG. 2B to the position indicated by D in FIG. 2B, vertical swinging and vertical swinging are possible.

In addition, as described above, the gripper arm 7a and the gripper 7 are flexed / extended integrally by the expansion / contraction operation of the flexion / extension cylinder 7b attached between the gripper arm 7a and the boom tip.

By controlling the vertical / horizontal swing of the gripper 7, the rotation and rotation of the boom, the ups and downs, and the bending and stretching of the gripper arm 7a, the electric pole mounted on the electric pole pedestal 9 in FIG. 1 is grasped and lifted, It is possible to carry out the building pillar work without shifting from the building hole drilled by the above-mentioned digging work (see B in FIG. 4).

Next, with reference to FIG. 3, a bucket for use by a worker to be used when working at a high place will be described.

The bucket 8 is composed of a box portion 81 on which an operator rides, and a columnar grasped member 83 whose upper and lower ends are supported by columnar supporting members 82 on the side surface of the box portion 81. When the bucket 8 is used Grips the columnar gripped member 83 by the grip member 71 of the gripper 7. In this way, after the installation work of the utility pole, if the gripper 7 that has been holding the utility pole until then grips the bucket 8, it is possible to perform work at a high place such as drawing work of the installed pole (fourth). (See Figure C).

Each work in the work vehicle 1 described above, that is, the fourth work
The work shown by A, B, and C in the figure is performed by operating the controller 10 connected by the cable 11. As shown in FIG. 4, this cable 11 is connected to a connector outside the vehicle body to control the operation outside the vehicle, or connected to a connector inside the cabin 4a to perform operation control inside the cabin 4a. The operation control can be performed by riding on the bucket 8 held by the gripper 7 by connecting to the connector provided on the. Here, a connector outside the vehicle body and a connector inside the cabin 4a are referred to as a lower connector, and a connector provided on the gripper 7 is referred to as an upper connector. In this case, the cable 11
When the controller 10 is connected via the, the worker is in the bucket 8 to perform high-altitude work, and when the controller 10 is connected to the lower connector, the construction work or digging is performed. This is the mode in which work is done.

The operating portion of the controller 10 is shown in FIG. 5, in which five operating levers 21 to 25 that can be tilted back and forth and left and right are provided.
And four toggle switches 31-34 and three push-button switches 41-43.

The operating lever 21 tilts back and forth to extend and retract the hoisting cylinder 5c to perform hoisting operation of the boom 5, and tilting left and right causes the swivel base 4 to swivel. Operating lever 22
The forward / backward tilting causes the boom tip side member 5b to extend / contract by the expansion / contraction of the telescopic cylinder, and the left / right tilt causes the gripper arm 7a to bend / extend by the bending / extending cylinder 7b. Tilt of the operating lever 23 back and forth causes the gripper 7 to swing vertically, and tilting left and right causes lateral swing. The forward / backward tilting of the operating lever 24 drives the auger motor 6b in the normal / reverse rotation direction, and the left / right tilting causes the gripper 7 to rotate. Tilt of the operating lever 25 back and forth causes the grip member 71 to open and close.

The toggle switch 31 is a main switch, and ON / OFF of the main switch controls ON / OFF of the power supply of the controller 10. The toggle switch 32 is a switch for switching ON / OFF of the automatic movement mode. When the toggle switch 32 is ON, the automatic movement mode is selected, and when it is OFF, the manual mode is selected. The switch 33 is a switch for switching the speed of each operation by the operation levers 21 to 25 between standard (NORMAL) and low speed (SLOW), and the push button 41 is a button for starting and stopping the engine.

Besides, there are a toggle switch 34 for an auger lock and button switches 42, 43 for an emergency stop and an emergency descent, but description thereof will be omitted.

As shown in FIG. 6, a mode selector 10a, a data memory 10b, a calculator 10c, and a moment limiter 10d are arranged in the controller 10. When the above-mentioned operation lever is operated, the signal corresponding to this operation is sent to the mode selector.
A predetermined mode is selected on the basis of the signals input to 10a and signals indicating the respective operation amounts sent from various sensors via the cable 11, and the arithmetic unit 10c selects each actuator (hydraulic pressure) based on the data in the data memory 10b. The operating speed of a cylinder or the like) is calculated, and a signal that causes each actuator to perform desired operation control is output. The contents of this operation control will be described with reference to the block diagram of FIG. 6 and the flow of FIG.

When the main switch 31 is turned on, the control flow is stepped.
Proceeding to S1, the operation of the moment limiter 10d is checked. The moment limiter 10d calculates a moment applied to the vehicle body from the ground reaction force of the outrigger 3 and the like, and limits the operation of each actuator so that the moment is not larger than the vehicle body overturn limit. This moment limiter 10
If d is not operating normally, the following controls should not be performed to ensure safety.

If the moment limiter 10d is operating normally,
In step S2, it is determined whether the connector 11a at the tip of the cable 11 of the controller 10 is connected to the upper connector. The fact that the cable 11 is connected to this upper connector means that the gripper 7 is connected as shown in FIG. 4C.
Indicates that the bucket 8 is gripped, an operator is boarded on the bucket 8, and work at a high place such as wire drawing work is performed. If the connector 11a is not connected to the upper connector, the process proceeds to step S3 to determine whether or not it is connected to the lower connector. The fact that it is connected to the lower connector means that building work or digging work is performed. When the cable 11 is not connected to any of the connectors, the subsequent control is not performed and the system stands by.

If the connector 11a of the cable 11 is connected to the lower connector, proceed to step S4 and set the moment limiter.
The building column mode regulation data is fetched as the control data of 10d, and then, in step S5, it is detected whether or not the auger device 6 is stored based on the signal from the sensor sent via the cable 11. As shown in FIG. 4B, when it is stored at a position along the base end side member 5a of the boom 5, the mode selector 10a determines that it is a building pillar work, and proceeds to step S6. It is determined whether the auto mode selection switch, that is, the toggle switch 32 is ON or OFF.

If this is OFF, the manual column mode is set in the mode selector 10a (step S7), and each operation lever
Operate according to the manual operation of 21-25. The optimum speed for each operation at this time is stored and set in the data memory 10b as shown in A mode in FIG. 8, and in the manual building column mode, the operation speed shown in this A mode is calculated by the calculator 10c. It is set and each operation is performed based on this operation speed.

On the other hand, when it is ON, the automatic vertical building column mode is set by the mode selector 10a (step S8), and the operation lever
Boom hoisting operation by 21 and arm by operating lever 22
When the bending / extending operation of 7a is performed, other operations (boom expansion / contraction operation, gripper 7 operation) so that the gripper 7 and the electric pole 90 gripped by the gripper 7 move in the vertical direction (M direction) in response to the ups and downs or bendings. The amount of vertical swinging motion) is calculated by the calculator 10c from the data in the data memory 10b, and these other operations are automatically controlled based on the calculated values. With this control, the utility pole 90 held by the gripper 7 is positioned above the hole dug by the auger device, and then the boom 5 is laid down or the arm 7a is bent. It can be moved down and easily installed in the hole.

For each operation at this time, the data memory 10b
In Fig. 8, the optimum speed is set as shown in the B mode, and in the automatic vertical building column mode, the operation is performed based on the operation speed shown in the B mode. The arrow in this table indicates that the same value as the value on the left side is set. Further, of the suffixes of each operating speed V, the tens suffix corresponds to each operation, and the ones suffix corresponds to the magnitude of speed. The ones suffix indicates that the higher the number is, the lower the operating speed is, for example, V ₁₁ > V ₁₂ > V ₁₃ > V ₁₄ .

On the other hand, if it is determined in step S5 that the auger device 6 is not stored and is in use, step
In step S9, it is determined whether or not the gripper 7 is closing and gripping. If the gripper 7 is not gripping anything, the moment limiter does not need to be regulated, and this is released (step S10). Next, in step S11, the auto mode selection changeover switch, that is, the toggle switch 32
Judge whether is ON or OFF.

When this is OFF, the manual digging mode is set by the mode selector 10a (step S12), and each operation lever 2
Operate according to 1 to 25 manual operation. In this mode, the arithmetic unit 10c sets the operation speed shown in the C mode of FIG. 8 as the optimum speed from the data in the data memory 10b, and the operation control based on this speed is performed.

On the other hand, when ON, the mode selector 10a sets the automatic vertical drilling mode (step S13). This mode is similar to the automatic vertical building column mode set in step S8, and when the boom 5 is hoisted, the auger device 6 moves in the vertical direction (L direction) in response to the hoisting operation. Other operation amount (boom expansion / contraction operation)
It is calculated by 10c, and these other operations are automatically performed based on this calculated value. Therefore, it is possible to move the auger device 6 vertically and easily dig a vertical hole for installing a utility pole. In this mode, the optimum speed shown in the D mode of FIG. 8 is selected from the data in the data memory 10b, and the operation based on this speed is performed.

If it is determined in step S2 that the upper connector is connected and work is performed at a high place, step S2
Proceeding to 0, the rotation of the gripper 7 is prohibited, and the bucket 8 held by the gripper 7 is prevented from rotating. Further, the altitude data regulation data is taken in as the control data of the moment limiter 10d.

Next, in step S21, it is determined whether the gripper lock switch is ON or OFF. This switch is gripper 7
Is a switch that is turned on when the lock for securely holding the bucket 8 to prevent it from being disengaged is made. When this is off, the output is stopped for the sake of ensuring safety and the subsequent operation is stopped. When this is ON, the light emitting diode 15 on the operation unit of the controller 10 is turned on to display that the lock is made (step S22).

Next, in step S23, it is determined whether the automatic mode selection changeover switch, that is, the toggle switch 32 is ON or OFF.

If it is OFF, the manual height mode is set by the mode selector 10a (step S25), and if it is ON, the automatic vertical height mode is set (step S27). In this case, the operating speed shown in E mode of FIG. 8 for the manual altitude mode and the operating speed shown in F mode of FIG. 8 for the automatic vertical altitude mode are respectively calculated by the computing unit 10c. The optimum speed is set from the data memory 10b. In both high altitude modes, step S20
In, the gripper rotation is prohibited and the gripper rotation operating speed is not set.

Here, in the case of the automatic vertical height mode, like the above-mentioned automatic vertical building mode, the bucket 7 is kept horizontal in response to the hoisting operation of the boom 5 or the bending / extending operation of the arm 7a. The amount of other operation (boom expansion / contraction operation, vertical swinging operation of the gripper 7, etc.) is calculated by the calculator 10c so as to move in the (N direction), and the calculated value is output in step S26, and the other operation described above is performed. Is automatically controlled. Therefore, when the boom 5 is raised or lowered or the arm 7a is bent or extended in the automatic vertical height mode, the bucket 8
Moves vertically while remaining horizontal.

On the other hand, in the case of the manual high altitude mode, the operation is basically performed according to the manual operation of the operation levers 21 to 25. However, in this case, for example, when the boom 5 is raised and lowered, There is a problem that the bucket 8 is tilted by the same angle as the undulation angle. Therefore, in this mode, in step S24, only the vertical swing control calculation value of the gripper 7 of the calculation values used in the automatic vertical height mode is output, and the vertical swing control of the gripper 7 is performed. This is performed based on this calculated value. As a result, the boom 5 is raised and lowered, the arm 7a
The vertical swinging operation control of the gripper 7 is performed so that the bucket 8 is always maintained horizontally even when the bending and stretching operation of the gripper is performed.

In the above example, the case of the automatic vertical movement mode in which the bucket or the like is moved along the vertical path has been described as the case of the automatic movement mode, but the automatic movement mode is not limited to this, for example, You may make it move along a horizontal path or any other path.

C. As described above, according to the present invention, according to the selection of any one of the digging mode, the building column mode and the high altitude mode,
The optimum values of the boom undulation and extension operating speed, the digging device operating speed, the arm bending and extending speed, and the gripping device swinging speed are read from the operating speed storage means, and each operation is performed based on the read operating speed. Since this is done, it is possible to always perform operation control at the optimum operation speed for each mode.

[Brief description of drawings]

1A and 1B are a top view and a side view showing a grip type digging column working vehicle according to the present invention, and FIGS. 2A, 2B and 2C are grippers equipped on the working vehicle. FIG. 3 is a perspective view showing a bucket mounted on the work vehicle, FIG. 4 is a conceptual view showing a working state using the work vehicle, and FIG. FIG. 6 is a front view showing the operation part of the operation control controller of this work vehicle, FIG. 6 is a block diagram showing the configuration of this controller, FIG. 7 is a flowchart showing the operation control contents by this controller, and FIG. 8 is for each mode. 3 is a table showing set operating speeds of the above. DESCRIPTION OF SYMBOLS 1 ... Gripping-type digging pillar work vehicle 5 ... Boom, 6 ... Auger device 7 ... Gripper, 8 ... Bucket 10 ... Controller, 21-25 ... Operation lever

Claims (1)

[Scope of utility model registration request] 1. A hoisting and retractable boom, a digging device mounted on the boom, an arm flexibly attached to the tip of the boom, and a swingable attachment to the tip of the arm. A control device for a work vehicle for gripping digging pillars, which has a gripping device and is capable of selectively gripping an object to be gripped such as an electric pole or a work table by the gripping device, Any one of a digging mode for performing digging, a building pole mode for performing work by grasping an object to be grasped such as the electric pole by the grasping device, and an altitude mode for performing work by grasping a work table by the grasping device Mode selecting means for selecting one of the modes, and corresponding to each of the modes, the boom undulation and extension / contraction operation speed, the digging device operation speed, the arm bending / extending speed, and the gripping device swing. The operating speed storing means for presetting and storing the degree, and when any mode is selected by the mode selecting means, the respective operating speeds corresponding to the selected mode are read from the operating speed storing means and read out. A control device for a grip type digging pillar work vehicle, comprising: an operation control unit that controls the operation of the boom, the digging device, the arm, and the gripping device based on the operating speed.