JPH078742Y2 - Grip type digging column car - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention, for example, equips the tip of a straight boom with a bending boom and a drilling device, and equips the tip of the bending boom with a columnar gripping device. The present invention relates to a grip-type hole-excavating column car that efficiently performs excavation column work.

[Conventional technology]

As for the upright work of electric poles for supporting power lines or telephone lines (hereinafter abbreviated as building pole work), all the work steps of the building pole work, that is, the building pole work including the digging work is performed by input. It was Therefore, the work time is long, and more manpower is required, so the labor cost is increased and the cost of the building pillar is enormous, and the work itself is extremely difficult.

Therefore, today, in order to solve such various problems, the development of mechanization for building pillar work is being carried out at a rapid pace.

However, the mainstream of the conventional pillar machine that has been developed in the past is
For example, a direct extension boom of an aerial work vehicle is equipped with a digging device (auger) at the tip, and the digging device first performs digging work for a building column, and then uses it for work before the tip of the direct extension boom. After removing the digging device, attach the wire with hook to the tip of the boom again, suspend the utility pole etc. with the wire with hook, and guide the lower end of the utility pole etc. to the hole dug earlier (this guide is the boom Is performed by an auxiliary worker other than an operator who performs operations such as ups and downs, expansion and contraction, and turning).

In other words, the construction pole machine with the above-mentioned structure is such that the digging work and the lifting work of electric poles, which were once done by human power, can be carried out by a machine, and the electric pole etc. In order to guide to the hole, it must be done by an auxiliary worker other than the operator, and the fact that the work of inserting a utility pole or the like into the hole depends on the human power of the worker as in the past, It is the current situation that the development of mechanization is overdue.

In view of the above, the applicant has a bending boom and a digging device at the tip of a straight extension boom, and a columnar body gripping device at the tip of the bending boom to make it possible to efficiently perform a digging pillar work. We provide a type of digging column car [Jitsukai Sho 63-124469 (Practical application No. 2-47235)].

However, even in the above-mentioned improved digging column vehicle, it is necessary to drive and control the boom with great care in order to keep the digging device and the columnar body straight on the ground during work, which imposes a heavy burden on the operator.

[Problems to be Solved by the Invention] The present invention has been made in view of the above circumstances, and provides a grip type digging column vehicle that can easily control the attitude of a digging device or a columnar body. It is an object.

[Means for Solving Problems] In order to achieve the above object, the present invention discriminates whether the work mode is a digging work or a building pillar work, and further, a boom angle required for posture control of the digging device or the pillar body. And the length are detected, and the posture control of the target can be easily and surely performed in any work mode based on the discrimination result and the detection output.

[Embodiment] Hereinafter, a first embodiment of a grip type digging column vehicle according to the present invention will be described.
A description will be given with reference to FIGS.

In FIG. 1, 1 is a grip type digging column truck, 2 is a turntable, 3 is a direct extension boom (in the present embodiment, a two-stage telescopic boom is used), 4 is the above-mentioned A bending / bending boom equipped so as to be able to bend / bend at the tip of the second-stage straight / bending boom 3a of the straight / bending boom 3 (the bending / bending of the bending / bending boom 4 is configured to be performed along the lower surface of the straight / bending boom 3),
Reference numeral 5 is an undulating cylinder, 6 is a base end or a front end that slides along the second-stage direct extension boom 3a, and is suspended in a state of being slid to the front end position (see the working state diagram) and perpendicular to the ground G. It is a digging device (auger) installed upright at. Both, the digging device 6 is stored along the side portion of the direct extension boom 3. 7 is a columnar body gripping device attached to the tip of the bending and stretching boom 4,
The electric pole P standing upright by the columnar body gripping device 7 is stably and firmly gripped without swinging. Reference numeral 8 is a bending cylinder of the bending boom 4.

Reference numeral 9 denotes a digging device storage detector attached to the straight extending boom 3, which detects that the digging device 6 is stored along the side portion of the straight extending boom 3. Similarly, 10 is a hoisting angle detector attached to the straight extending boom 3, and detects the hoisting angle θ of the straight extending boom 3.
Reference numeral 11 is a boom length detector similarly provided in association with the straight extension boom 3 and is for obtaining the drive length L of the direct extension boom 3.

12 is a bending / bending angle detector provided on the bending / bending boom 4,
The bending angle η of the bending boom 4 is detected.

Reference numeral 13 is an electromagnetic control valve provided on the main body side of the grip type digger / columner 1. The opening / closing and direction control of the electromagnetic control valve 13 allows the expansion / contraction of the direct extension boom 3, that is, the drive length L to be adjusted.

Similarly, 14 is a control box provided on the body side of the grip type digging column vehicle 1 and supplies a control signal to the electromagnetic control valve 13 to control the postures of the digging device 6 and the utility pole P. .

FIG. 2 shows an example of the structure of this control box 14, and in this FIG.
A selector 15 and a calculator 16 are mounted inside. Detection outputs θ, L and η from the undulation angle detector 10, the boom length detector 11 and the flexion / extension angle detector 12 are input to the three switching input terminals of the selector, respectively. Further, the detection output of the digging device storage detector 9 is supplied to the switching control end of the selector 15.

In this case, when the storage state of the digging device is detected, the detection outputs θ, L, and η are all supplied to the arithmetic unit 16 in the subsequent stage, and the drive length L of the straight boom 3 is calculated by the following equation (1).
The calculator 16 calculates the control amount to the electromagnetic control valve 13 so as to satisfy the above condition.

R = L * cos θ + X * cos (π−θ−η) (1) However, in the formula (1), R is the distance between the foot F and the hole H of the perpendicular line from the pivot of the straight boom 3 to the ground G. , X is the length of the bending boom 4 and is a constant. Note that the relationship of Expression (1) is geometrically shown in FIG.

On the other hand, when the non-retracted state of the digging device is detected, only the detection outputs θ and L are supplied to the arithmetic unit 16 in the subsequent stage, so that the drive length L of the direct extension boom 3 satisfies the following formula (2). In addition, the calculator 16 calculates the control amount to the electromagnetic control valve 13.

R = L * cos θ (2) Hereinafter, the operation of the grip type digging column vehicle according to the present invention will be described based on the above configuration.

That is, the grip type digging column vehicle 1 according to the present invention is equipped with a bending / bending boom 4 at the tip of the second-stage straight-extending boom 3a of the straight-extending boom 3, and a base along with the second-stage straight-extending boom 3a. Equipped with a digging device (auger) 6 that slides from end to end,
Further, since the columnar body gripping device 7 is provided at the tip of the bending and stretching boom 4, when the electric pole P is erected on the ground G, as shown in the figure, first, the straight stretching boom 3 is swung in a predetermined building column working direction. Then, the digging device (auger) 6 equipped at the tip of the second-stage straight stretching boom 3a is pushed vertically to the ground G, and the digging device 6 is rotated to dig a hole H having a predetermined depth. In this digging work, the hoisting angle θ of the direct extension boom 3 becomes smaller as the depth of the hole becomes deeper, but the length of the direct extension boom 3 is shortened according to the equation (2). The posture of the excavation device 6 can be maintained vertically.

When the above digging step is completed, next, the digging device 6
Is stored in the side portion of the straight extension boom 3, and then the bending and stretching boom 4 mounted at the tip of the second stage straight extension boom 3a is bent and stretched, and the columnar body gripping device 7 mounted at the tip is installed upright. The electric pole P is firmly gripped by abutting on substantially the center of P.

Then, when the process of gripping the utility pole P is completed, for example, as shown in the same figure, the straight pole boom 3 (including the second stage straight boom 3a) is extended and retracted, and the flexure boom 4 is flexed and stretched while the utility pole 4 is being stretched. The lower end of P is lowered right above the hole H dug by the digging device 6, and finally the electric pole P is inserted and erected by the descending load of the straight extension boom 3 and the bending extension boom 4.

In the above-described insertion standing process, the undulation angle θ of the straight extension boom 3 or the bending angle η of the extension / extension boom 4 changes as described above, and even in this case, the length of the direct extension boom 3 is calculated according to the equation (1). The posture of the electric pole P is maintained perpendicular to the ground.

As described above, the grip type digging column vehicle 1 according to the present invention
According to the above, one machine operator can perform a digging work, a utility pole gripping operator and a utility pole, and a vertical insertion stand, and the postures of the digging device and the utility pole are automatically maintained vertically. Therefore, the work can be performed in a short time and without causing the operator's fatigue.

In the above-described embodiment, a detector for detecting the storage state of the digging device 6 is provided to discriminate the work mode, that is, whether the digging work is the vertical insertion standing work of the electric pole, but another method. The work modes may be discriminated by.

FIG. 4 shows a configuration example of the control box 14 which is suitable for application to a modified example in which the working mode is discriminated based on the bending and stretching angle of the bending and stretching boom 4. In this modified example, if the bending and stretching angle is 0 degree, it is discriminated from the digging work, and the control is performed according to the equation (2) of the above-mentioned embodiment, while if the bending and stretching angle exceeds 0 degree, the vertical pole of the utility pole is detected. Expression (1) when it is judged that it is insertion standing work
Control according to. Operation mode discrimination
At 16. In FIG. 4, the parts corresponding to those in FIG. 2 are designated by the corresponding numerals, and detailed description thereof will be omitted.

[Effects of the Invention] As described in detail above, the present invention discriminates whether the work mode is the digging work or the building pillar work, and further determines the boom angle and length required for controlling the posture of the digging device and the pillar. The posture of the target is detected easily and reliably in any work mode based on the detection result and the detection output. Therefore, the operator does not need to pay attention to maintaining the posture, and the working time and the operator's fatigue can be reduced.

[Brief description of drawings]

FIG. 1 is an overall view showing an embodiment of a grip type digging column vehicle according to the present invention, FIG. 2 is a block diagram showing a configuration example of a control box of the embodiment of FIG. 1, and FIG. FIG. 2 is a diagram for explaining a configuration example, and FIG. 4 is a block diagram showing a modified example of the configuration example of FIG. 1 …… Grip-type digging pillar car, 2 …… Turntable, 3…
… Direct extension boom, 4 …… Bending extension boom, 6 …… Drilling device, 7
…… Columnar gripping device, 9 …… Drilling device storage detector, 10…
… Rotation angle detector, 11 …… Boom length detector, 12 …… Bend and extension angle detector, 13 …… Electromagnetic control valve, 14 …… Control box, 15 …… Selector, 16 …… Computer.

Claims (1)

[Scope of utility model registration request] 1. A vehicle main body side is provided with a base portion of an undulating and retractable straight-extending boom which is pivotally supported, and a bending-extending boom and a digging device are provided at the tip of the straight-extending boom, and a columnar body gripping device is provided at the tip of the bending-extending boom. In the grip type digging column vehicle provided with, a selector for selecting a digging mode or a columnar gripping mode as a work mode, an undulation angle detector for detecting the undulation angle of the direct extension boom, and the direct extension boom A boom length detector that detects a boom length, a bending and extension angle detector that detects a bending and extension angle of the bending and extension boom, and a detection output of the undulation angle detector when the selection result of the selector is a digging mode and the The drive of the direct extension boom is controlled based on the detection output of the boom length detector, and when the selection result of the selector is the columnar body gripping mode, the detection output of the undulation angle detector and the detection of the boom length detector. Gripping type Anaho Kenbashira vehicle and having a force and the bending angle detector based on the detection output for controlling the driving of one or both of the ChokuShin boom and said bending beam calculator.