JPH072684Y2 - Safety equipment for overhead car - Google Patents

Description

[Detailed Description of Device] a. DISCLOSURE OF THE INVENTION Object of Invention (Field of Industrial Use) The present invention relates to a grip type work vehicle provided with a grip device for gripping a utility pole, and further to a device for calculating a fall-side moment generated by the weight of the utility pole or the like.

(Prior Art) A work range control device is attached to a work vehicle equipped with a boom such as an aerial work vehicle or a crane vehicle. This work range control device calculates the tipping-side momentum that acts in a direction that causes the vehicle body to tip over due to the weight of the boom and the vertical load (suspension load) applied to the tip of the boom, and the tipping-side moment is rated. When a moment (a moment that causes the vehicle body to fall is divided by a predetermined safety factor, etc.) is reached, the operation in the direction of further increasing the falling side moment is restricted to ensure safety.

By the way, in the case of performing the work of constructing a utility pole, a gripping work is provided at the tip of the boom, which is provided with a gripping device capable of swinging, rotating, etc., and capable of gripping and lifting the power pole by this gripping device. I sometimes use a car.

(Problems to be solved by the invention) When a utility pole is to be gripped by the above-described gripping work vehicle gripping device, it is desirable to grip the center of gravity of the power pole. Since it is not easy to specify the position of, the gripping position of the gripping device may deviate from the center of gravity of the electric pole. In such a case, the weight of the electric pole causes a moment around the grip position. In addition, the moment around the gripping position may act in the direction of overturning the work vehicle depending on the turning position of the boom or the like, like the above-described overturning side moment. Therefore, in such a case, the work range regulating device described above operates based on the fall-side moment calculated without including the moment around the gripping position (that is,
When the tipping-side moment reaches the rated moment), the actual tipping-side moment, which includes the moment around the gripping position, has already exceeded the rated moment.
There is a problem that proper boom operation may not be regulated.

In view of the above problems, it is an object of the present invention to provide a safety device for a building car that can calculate a deviation between a gripping position and a center of gravity of an electric pole required for calculating a moment around the gripping position.

B. Configuration of the Invention (Means for Solving the Problems) In order to achieve the above object, according to the present invention, when a gripping device grips a utility pole, a detector detects a moment generated around the gripping position due to the weight of the utility pole. Based on the signal from the detector, the computing unit calculates the deviation between the grip position of the electric pole by the grip device and the gravity center position of the object.

(Operation) In such a safety device for a building column vehicle, when the gripping position of the object by the gripping device deviates from the center of gravity of the object and a moment around the gripping position is generated, the moment applied to the gripping device is distorted. It is detected by using a detector such as a gauge, and based on these detected moments, the calculator calculates the deviation between the gripping position and the center of gravity of the object. further,
An accurate tipping-side moment can be calculated based on the deviation calculated in this way.

(Embodiment) A preferred embodiment of the present invention will be described below with reference to the drawings. Here, an example in which the safety device for a building column vehicle according to the present invention is used as a fall-side moment calculator in a work range restricting device will be described.

First, a grip type work vehicle equipped with the above-mentioned tipping side moment calculator will be described with reference to FIG.

Outriggers 3 are attached to the front, rear, left and right of a vehicle body 2 of the grip type work vehicle 1. When performing work, the outriggers 3 are extended laterally and downwardly of the vehicle body 2 to support the vehicle body 2 as shown in the figure. Further, a swivel base 4 is attached to the center of the vehicle body 2 so as to be freely rotatable with respect to the vehicle body 2. Further, a base end portion of a boom 5 is pivotally attached to an upper portion of the swivel base 4. The boom 5 is a two-stage telescopic boom including a base end side member 5a and a tip end side member 5b. Also,
The boom 5 can be lifted and lowered by the expansion and contraction operation of the lift cylinder 6.

A gripping device 7 is attached to the tip of the boom 5. The gripping device 7 is composed of a gripper 8 and a frame 9. The gripper 8 holds and releases the electric pole 12 by opening and closing a hand member 11 attached to the tip of the gripper 8. The gripper 8 is provided on the support drum 10
It is rotatably supported by. Also this drum 10
Is pivotally attached to the frame 9 and is swingable in the lateral direction (vertical direction with respect to the drawing) by the expansion / contraction operation of the lateral swing cylinder 13. The frame 9 is pivotally attached to the tip of the boom 5,
When the vertical swing cylinder 14 is expanded and contracted, it can be swung in the vertical direction (vertical direction in the drawing). In this way, the gripper 8
The boom 5 can be rotated, laterally swung, and vertically swung.

Next, the fall-side moment calculator will be described with reference to FIG. The overturning side moment calculator 20 is composed of sensors (21 to 28) and a calculator 29.

The undulation angle sensor 21, the extension amount sensor 22, the turning angle sensor 23,
The hoisting angle, extension amount, and turning angle of the boom 5 are detected respectively. Further, the cylinder axial force sensor 24 detects the load applied to the piston rod of the undulating cylinder 6 in the axial direction by the weight of the boom 5, the holding device 7 and the weight of the electric pole 12 held by the holding device 7. The rotation angle sensor 25, the horizontal swing sensor 26, and the vertical swing sensor 27 detect the rotation angle of the gripper 8 with respect to the boom 5, and the horizontal and vertical swing angles, respectively.
The sensors (21 to 27) are connected to the computing unit 29 via signal lines.

The strain gauge 28 is attached to a wrist portion (a cylindrical portion where the fulcrum of the hand member 11 is provided) 11a of the gripper 8 and is attached to the wrist portion 1
The torsional moment applied to this part is detected based on the circumferential strain generated in 1a. The strain gauge 28 is also connected to the arithmetic unit 29 via a signal line.

Next, the operation of the tipping-side moment calculator 20 will be described.

For example, when the utility pole 12 is gripped by the hand member 11 of the gripper 8 as shown in FIG. 1, first, the calculator 29 uses the detection signal from the hoisting angle sensor and the like (21 to 24) to grasp the boom 5 and The total weight of the device 7 and the utility pole 12 is calculated.
The weights of the boom 5 and the gripping device 7 are calculated in advance by the calculator 26.
It is stored in the power pole
Calculate the weight of 12 separately.

On the other hand, when the holding position of the utility pole 12 by the hand member 11 is displaced upward by a distance x from the center of gravity DG of the utility pole 12 as shown in FIG. 1, the moment M due to the weight of the utility pole 12 is around this gripping position. Occurs. Further, this moment M acts as a twisting moment on the wrist portion 11a of the gripper 8, this twisting moment is detected by the strain gauge 28, and the detection signal is sent to the calculator 29.

The calculator 29, which has received the detection signal from the strain gauge 28, calculates a distance x from the torsional moment and the weight of the electric pole 12 calculated previously, that is, a gripping position by the gripping device 7 and a gravity center position DG of the electric pole 12. Calculate the deviation.

Further, the computing unit 29 grasps the posture of the electric pole 12 from the detection signal from the rotation angle sensor or the like (25 to 27), and calculates the position of the center of gravity DG of the electric pole 12 based on this posture and the calculated distance x. . Next, the computing unit 29 calculates the position of the center of gravity BG of the boom 5 (including the gripping device 7) corresponding to the extension amount of the boom 5 (may be stored in advance for each extension amount), and From the position of the center of gravity BG and the position of the center of gravity DG of the electric pole, the position of the entire center of gravity G when the boom 5, the gripping device 7, and the electric pole 12 are viewed as one body is calculated. The tipping side moment is calculated from the position of the center of gravity G and the previously calculated weights of the boom 5, the gripping device 7, and the electric pole 12.

As described above, this tipping-side moment is calculated in consideration of the twisting moment generated around the grip position of the grip device 7. Therefore, by configuring the operation range of the boom 5 based on the tipping-side moment calculated in this way, the above-described work range restriction device allows the operation range of the boom 5 to be properly controlled regardless of the position where the pole 12 is gripped. It can be performed.

When the gripper 8 holds the utility pole 12 that has fallen to the ground or the like and lifts it, the weight of the utility pole 12 around the grip position is also deviated from the center of gravity DG of the utility pole 12 as shown in FIG. A moment M due to In this case, this moment M acts as a bend on the wrist 11a. Therefore, by attaching the strain gauge 30 to the side portion of the wrist portion 11a and detecting the bending thereof, the fall-side moment similar to the above can be calculated.

If an alarm is issued when the moment around the gripping position exceeds a predetermined amount, the gripping device 7 or the boom 5
It is possible to prevent a moment exceeding the allowable strength from acting on the above.

C. Effect of the Invention As described above, with the safety device for a building column vehicle, it is possible to calculate the deviation between the position where the object is gripped by the gripping device and the position of the center of gravity of the object. Therefore, if a work range regulating device using this safety device for calculating the tipping side moment is used, proper boom operation regulation can be performed irrespective of the gripping position of the object by the gripping device.

[Brief description of drawings]

FIG. 1 is a schematic view showing a safety device for a building column vehicle according to the present invention, FIG. 2 is a side view of a grip type work vehicle equipped with the above device, and FIG. It is the schematic which showed. 5 ... Boom, 7 ... Gripping device 28 ... Strain gauge, 29 ... Calculator

Claims (1)

[Scope of utility model registration request] 1. A safety device for a building pole vehicle, comprising a gripping device for gripping an electric pole at a tip end of a boom attached to a vehicle body, wherein the weight of the electric pole causes the electric pole to move around a gripping position of the electric pole by the gripping device. A detector for detecting a generated moment, and a calculator for calculating a deviation between a gripping position of the electric pole by the gripping device and a gravity center position of the electric pole based on a signal from the detector. A safety device for a column car.