JPH08116619A - Device and method for automatically laying cable trough cover - Google Patents

Abstract

PURPOSE: To reduce the labor required for laying cable trough covers on cable troughs by loading the covers on the bed of a vehicle and unloading the covers from the vehicle to fixed positions on the cable troughs by extending/contracting, lifting/ lowering, and turning a handling device. CONSTITUTION: A handling device(HD) 21 which puts a cover 15 loaded on the bed 7 of a vehicle on a cable trough 2 is provided on the main body 5 of the vehicle. The HD 21 is constituted of a crane device 23 having a boom 22 the base end section of which is installed to the rear section of the main body 5 and which can be extended/ contracted, lifted/lowered, and turned, hook 24 which is fitted to the front end of the boom 22 and can be lifted and lowered, and attracting device 25 suspended from the hook 24. The device 23 is constituted in such a way that its base end section 22a is erected on the rear end section of the main body 5 so that the section 22a can be turned around a vertical axis and its boom main body (BM) 22b can be expanded and contracted in the length direction. The BM 22b is connected to the base end section 22a so that the BM 22b can be lifted/lowered in the vertical direction and can be extended/contracted in the length direction. The hook 24 is suspended from the front end of the BM 226 with a cable 26 which is wound around a cable reel 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a trough lid automatic laying device for automatically laying a lid on a trough provided along a magnetic levitation railway or a normal railroad railway, and this trough lid automatic laying device. TECHNICAL FIELD The present invention relates to a trough lid laying method for laying a lid on a trough using the method.

[0002]

2. Description of the Related Art When a trough for laying a power cable or the like is provided on both sides or one side of a magnetic levitation railway or an ordinary railroad railway, it is necessary to cover the trough. Conventionally, the work of laying the trough lid on the trough has been performed manually by a person using a crane that simply hangs the lid while moving the trolley with a plurality of lids.

[0003]

The above-mentioned conventional method using a simple crane requires labor which is not necessarily light, is extremely inefficient, and it is difficult to perform lid laying work in a short period of time.

The present invention has been made in view of the above circumstances, and an automatic trough lid laying device for efficiently and quickly constructing a lid for a trough provided laterally along a vehicle running path, And to provide a trough lid laying method.

[0005]

SUMMARY OF THE INVENTION The present invention for solving the above-mentioned problems is an automatic trough lid laying device for automatically laying a lid on a trough provided laterally along a vehicle traveling path. A vehicle main body that can run along a road, a cargo handling platform that is provided on the vehicle main body and that can be stacked in the longitudinal direction of the road with a plurality of lids stacked, and the vehicle main body can be expanded, contracted, undulated, and turned. And a handling device which can be installed and which can be laid on a side trough by loading a lid on the cargo handling table.

According to a second aspect of the present invention, in the handling device, a boom having a base end portion installed at a rear portion of the vehicle body, which can be extended, retracted, swiveled, and a tip end of the boom is movable up and down. A crane device having a hook,
It is characterized in that it is provided with an adsorption device which is hung on a hook of the crane device and which can adsorb or release the lid.

According to a third aspect of the invention, in the adsorption device,
It is characterized in that a lid clamp device is provided which is capable of grasping or adsorbing the sucked lid from both sides.

According to a fourth aspect of the present invention, in order to prevent the boom of the crane device from colliding with the obstacle by stopping the boom when the tip of the boom approaches an obstacle. With the switch of
Limit switches for limiting the amount of expansion and contraction, the hoisting angle, and the turning angle of the boom are respectively provided at the base end of the crane device.

According to a fifth aspect of the present invention, by automatically extending, retracting, and swinging the boom in the handling device, the lids loaded on the cargo handling platform are loaded in a predetermined order to be mounted on the trough. Control means for laying at the unloading position is provided, and the loading position, the unloading direction, the unloading position, etc. of the lid can be set on the site, and the control means is set before starting the unloading work. The feature is that the origin position of the handling device can be set.

The invention according to claim 6 is a trough lid laying method for laying a lid on a trough using the automatic trough lid laying device according to claim 1 or 2, wherein the lid is provided on the cargo handling platform. The columns are stacked in two rows along the longitudinal direction, and the lids loaded in these two rows are loaded laterally in order from the front row or the middle row of the traveling path to the rear row side, and the troughs located on the left and right sides of the vehicle main body. The feature is that it is laid on either side.

The invention according to claim 7 is a trough lid laying method for laying a lid on a trough using the automatic trough lid laying device according to claim 1 or 2, wherein the lid loaded on the cargo handling platform is A step of loading and laying a plurality of sheets on one of the troughs located on the left and right sides of the vehicle main body along the longitudinal direction from the front side of the traveling path; A step of moving to the rear side, and after this step, a plurality of lids loaded on the cargo handling platform are continuously laid from the rear side to the front side of the trough, and the lid is laid continuously with the lid laid on the front side. It is characterized by having a step of

[0012]

When a lid is laid on the trough using the automatic trough lid laying device according to claim 1, the lid on the cargo handling platform is loaded and unloaded while the handling device is expanded, contracted, swung, and swung. The handling device is expanded, retracted, swung, and unloaded at a fixed position on the trough, and the lid is laid on the trough.

In the automatic trough lid laying device according to a second aspect of the present invention, the tip end of the boom is expanded, retracted and swung around the base end portion of the crane device provided at the rear portion of the vehicle main body as a base shaft. To the loading position of the boom, and at the loading position, the adsorption device suspended from the tip of the boom on the hook is lowered onto the lid at the loading position, and the adsorption device adsorbs the lid to load it. With the stacked lid rolled up near the tip of the boom, the boom is extended, retracted, swung, and swung to move the lid suspended at the tip to the specified unloading position on the trough, and the hook is unloaded at this unloading point. And lay a lid on the trough.

In the third aspect, since both sides of the lid loaded by suction on the suction device are held by the lid clamp device, if the suction device should break down and the lid is detached from the suction device. Even the lid does not fall.

When the tip of the boom approaches an obstacle, the switch provided at the tip of the boom is actuated to stop the movement of the boom, and the boom collides with the obstacle and is damaged. Is prevented. In addition, a limit switch that limits the amount of boom expansion / contraction, hoisting angle, and turning angle is installed in advance at the base of the crane device. Stop and prevent dangerous and useless movements. Further, if the origin position of the crane device is set on the limit switch, it is possible to confirm that the crane device has reached the origin position by the display means or the like.

According to the fifth aspect of the present invention, the control means preliminarily programs the direction and procedure of movement of the boom such as expansion and contraction, ups and downs, and turning, so that the lid loaded on the loading platform is loaded in accordance with the set procedure. At the same time, lay the loaded lid on the trough at the unloading position according to the procedure. In addition, the control means can be loaded at a suitable loading position depending on the situation at the site.
The unloading direction, unloading position, etc. are set appropriately. further,
If the origin position of the handling device is set before starting the loading work, then the boom automatically moves from the origin position between the loading position and the unloading position according to the procedure set above to perform the laying work. .

In the trough lid laying method according to the sixth aspect, the lids stacked in two rows along the longitudinal direction of the cargo handling platform,
The cargo is loaded laterally from an arbitrary position along the longitudinal direction of the road, and the loaded lids are laid on either one of the troughs located on the left and right of the vehicle body.

In the trough lid laying method according to the seventh aspect, the lid loaded on the cargo handling platform is loaded and laid on either one of the troughs located on the left and right of the vehicle body. When laying, a plurality of sheets are continuously laid along the longitudinal direction from the front side to the rear side of the traveling path. When a plurality of lids are continuously laid, the vehicle body is moved to the rear side of the traveling path and stopped at a predetermined position. Next, a plurality of lids loaded on the cargo platform are continuously laid from the rear side of the trough toward the front side. The last lid to be laid is connected to the last lid already laid on the front side.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS.
Will be described with reference to. 1 is a front view of an automatic trough lid laying apparatus according to an embodiment of the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is FIG.
FIG. This embodiment is an automatic trough lid laying device for automatically laying concrete lids on troughs 2 provided on both sides of a running path 1 of a magnetic levitation railway. The trough 2 accommodates power cables and the like. The trough 2 of the embodiment has a plurality of widths in the range of about 900 mm to 1200 mm. The lid 15 of the embodiment has a width matching the width of the trough 2 and a length of 500 mm (dimension in the arrangement pitch direction (trough longitudinal direction)).

The automatic trough lid laying device 3 is provided on the running path 1.
Vehicle body 5 traveling on the road and a frame 6 of the vehicle body 5
It is provided with a cargo handling platform 7 which is fixed on the top and carries the lid 15. Each wheel 8 of the vehicle body 5 is a tire type,
Guide tires 9 that come into contact with the side wall surfaces of the road 1 and steel stopper wheels 10 for ensuring safety are attached to the left and right side surfaces of the vehicle body 5. Further, at the rear portion of the frame 6, there is provided a distance detecting device 11 that rolls the tire 11a on the traveling road surface and detects the rotational speed of the tire 11a by an encoder to detect the moving distance of the vehicle body 5. Furthermore, the vehicle body 5
A driver's cab 12 is installed in the front part of the vehicle, and a diesel generator 13, a vehicle body 5 lifting metal fitting 14, etc. are installed in the rear part of the vehicle body 5. At the rear portion of the frame 6, when the lid is laid, the frame 6 is lowered and abutted against the running path 1 so that the frame 6 runs on the running path 1.
You may make it provide the outrigger fixed to this.

A plurality of lids 15 are stacked on the cargo handling table 7 (hereinafter, the lid group formed by stacking the plurality of lids is referred to as a laminated lid group) and in the longitudinal direction of the traveling path (left-right direction in FIG. 1 etc.). They are loaded side by side. In this embodiment, a stack of 10 stacked lids is stacked on the cargo handling table 7 in 8 × 2 rows. The cargo handling platform 7 has a structure that can be loaded with a lid 15 and is made of steel sheet in consideration of site characteristics, and handrails 16 are provided on both sides of the cargo handling platform 7 to prevent falling along the longitudinal direction of the traveling path. .

The vehicle body 5 is provided with a handling device 21 for laying the lid 15 loaded on the cargo handling platform 7 on the trough 2. This handling device 21
The base end is installed in the rear part of the vehicle body to expand, contract, undulate,
A crane device 23 having a swingable boom 22, and a hook 24 provided at the tip of the boom 22 so as to be able to move up and down.
And a suction device 25 suspended from the hook 24.

In the crane device 23 of this embodiment, the base end portion 22a of the boom 22 is erected at the rear end portion of the vehicle body 5 so as to be pivotable around a vertical axis, and the boom body 22b has three stages in the longitudinal direction. It is expandable. The boom body 22b is connected to the base end portion 22a so as to be vertically movable, and is hydraulically driven to expand and contract in the longitudinal direction and vertically movable. A hook 24 is suspended by a cable 26 from the tip of the boom body 22b, and the cable 26 is arranged along the boom body 22b and wound around a cable reel 27 attached to the base end of the boom body 22b. There is. Then, the hook 24 is moved up and down by driving the cable reel 27 to wind up or feed out the cable 26.

When the tip of the boom body 22b approaches an obstacle (for example, the wall surface of the tunnel when construction is performed in the tunnel as shown in FIG. 3), the obstacle is attached to the tip of the boom body 22b. Microswitches 30 are provided in three directions to prevent collision with an object. The base end of the boom body 22b has a first limit switch 3 for restricting the expansion and contraction amount and the undulation angle of the boom body 22b.
The first and second limit switches 32 are provided, and the base end 22a is provided with the third limit switch 33 for limiting the turning angle.

Further, the crane device 23 can be operated in three modes of manual, remote control, and radio control, and by means of control means incorporated in a control panel 34 installed at the rear of the cargo handling platform 7,
The boom 22 can be automatically expanded / contracted, raised / lowered, and swung, and the lid 15 loaded on the cargo handling platform can be laid on the trough 2 in a predetermined order. This control means can set the loading start position, the unloading direction, the unloading position, etc. of the lid 15 at the site. It should be noted that the crane device 23 is stored in a state in which it is contracted to the shortest length in a normal state (a state other than the laying work) (broken line portion in FIG. 1).

The suction device 25 is arranged in the center of the forefront of the cargo handling platform 7 in a normal state, and is used for the boom 2 during laying work.
It is used by being suspended from the second hook 24. As shown in FIGS. 4 to 7, the suction device 25 includes a hanging metal fitting 25b that is hooked to a hook 24 on an upper portion of a box-shaped device body 25a.
Is provided, and a suction pad 25c for adsorbing the lid 15 is provided below the device body 25a. Then, when the suction button 25d of the suction device 25 is pressed, the vacuum pump is activated and the lid 15 is sucked onto the suction pad 25c, and the release button 25e.
When is pressed, the vacuum pump is stopped and the lid 15 is detached from the suction pad 25c. A mechanical lid clamp device 35 is provided below the suction device 25. When the lid clamp device 35 sucks and moves the lid 15, the lid 15 drops even if a failure occurs. Prevent.

As shown in FIG. 6, the lid clamp device 35 includes two frames 35a arranged in parallel, two connecting members 35b for connecting the frames 35a, and a center between the connecting members 35b. A frame is formed by the channel material 35c that connects the portions near each other, and a rotary rod 35e is attached near both ends between the two frames 35a of the frame, and the rotary rod 35e protrudes to the outside of the frame 35. Four clamps 35f that rotate together with the rotating rod 35e and grip the lid 15 from both sides are attached near both ends, and a handle 35g for rotating the clamp 35f is further provided at one end of the rotating rod 35e. It is fixed. At the central portion of the channel member 35c, the mounting plate 35 faces inward as shown in FIG.
h is fixed, and the lid clamp device 35 is attached to the suction device 25 by fixing the attachment plate 35h to the upper surface side of the suction pad 25c (see FIGS. 4 and 5). The clamp 35f can be expanded and contracted and fixed in the length direction of the lid 15 to be gripped.
One of the positioning means may be used.

8 and 9 are explanatory views of the distance detecting device 11 provided at the rear portion of the vehicle body 5, and the distance detecting device 11 is shown.
Is a tire 11a rolling on the road surface and this tire 1
Arm part 11 for attaching 1a to the rear side surface of the frame 6
b, and a detection means 11c for detecting the moving distance of the vehicle body 5 by detecting the number of rotations of the tire 11a with an encoder. The arm portion 11b is composed of a fixed arm fixed to the frame 6 side and a rotary arm which is rotatable in the vertical direction with respect to the fixed arm and supports the tire 11a. It is possible to move up and down following. Further, the locking portion 11d is provided at a predetermined position of the rotating arm, while the fixed arm is provided with an engaging portion 11e that engages with the locking portion 11d by a detachable pin, which is usually (distance detection is not required). At times, the rotating arm is bent upward, and the locking portion 11d is pin-joined to the engaging portion 11e to support the tire 11a on the frame 6 side (see a chain double-dashed line in FIG. 8). ). It should be noted that reference numeral 4 in FIGS.
0 is a work light provided near the tip of the boom body 22b,
Reference numeral 41 is a revolving light provided on the roof portion of the driver's cab, and 42 is a pin type connector provided at the rear end portion of the vehicle body 5 for pulling another vehicle.

Next, a method of laying the lid 15 on the trough 2 using the automatic trough lid laying apparatus of this embodiment will be described. The required number of lids 15 are loaded on the cargo handling table 7 in advance. In this case, as shown in FIGS.
The lid group formed by stacking about one sheet (the laminated lid group) is stacked so that the lid groups are almost in contact with each other in the longitudinal direction of the traveling path. In the illustrated example, they are loaded in two rows, the right side and the left side in the traveling road width direction. This lid 1
In the loading method of 5, for example, two laminated lid groups are placed on a pallet (not shown), and the two laminated lid groups are loaded on the cargo handling platform 7 for each pallet by a forklift or a crane. When the required number of lids 15 have been loaded, the vehicle body 5
After driving to the lid construction site, stop at the specified position.

FIG. 10 shows the order in which the lid 15 is laid on the left and right troughs 2 using the handling device 21.
It shows the state numbered 5. First, a method of laying the lids 15 stacked in two rows on the trough 2 on the right side of the traveling path will be described. When laying on the trough 2 on the right side, first, the loading / unloading (laying) start position on the trough 2 is set in accordance with the loading position of the No. 1 lid 15 of the loading platform 7 (the existing marking position of the vehicle body 5). After marking A, lid 1
Take out from the front row side of 5 in horizontal order. That is, the topmost and frontmost NO.1 lids 15 are first loaded and laid at the position of the NO.1 lid 15 of the trough 2 on the right side in the order in which the lids 15 are numbered. Next, N in the front row located on the left side of NO.1
Load the O.2 lid 15 and lay it on the right trough 2 at the NO.2 lid 15 position. Next, N located in the back row of NO.1
O.3 lid 15 is loaded and right trough 2 NO.3 lid 1 is loaded.
No.4, NO.5 ... NO.8 are laid at the position of No.5 and so on.
The eight lids 15 up to are laid on the right trough 2. And after the process of laying 8 sheets on the trough 2 is completed,
After marking B is made at the rear end position of N0.8 of the lid 15, the vehicle body 5 is moved rearward along the traveling path 1, and the vehicle body 5 is stopped in accordance with the marking position of the marking B. . In this state, following the above process, the N0.9 lid 15 of the loading platform 7 is loaded and the N of the trough 2 on the right side is loaded.
The rear N behind the lid 15 of O.8 with a distance of 8 lids.
Install at the position of the lid 15 of O.1. Next, No. 10 of the loading platform 7
Load the lid 15 of No. 2 and lay it at the position of the No. 2 lid 15 of the trough 2. In the same way, NO.11, NO.12 of loading platform 7 ...
The NO.16 lid 15 is laid at the NO.3, NO.4 ... NO.8 positions of the trough 2 toward the front side of the road. Finally, the NO.16 lid 15 of the cargo handling platform 7 was laid at the NO.8 position of the trough 2, and thus was laid at the last of the front side of the trough 2.
It is connected to the lid 15 of NO.8, and the laying of the uppermost lid 15 of the stacked lid group on the cargo handling platform 7 is completed. Then, after marking C on the rear end of the NO.1 lid 15 behind the trough 2, the vehicle body 5 is moved backward to align the loading position with the marking C. In this state, the crane device 23 Is returned to the position of the second-stage NO.1 lid 15 of the laminated lid group, and the above steps are repeated from the second-stage NO.1 lid 15 to sequentially lay them on the trough 2. As a result, the movement of the crane device 23 is controlled without waste, and the laying work can be performed efficiently.

When the lids 15 stacked in two rows are laid on the left trough 2 (on the side of the broken line in FIG. 10) of the traveling road, first, the troughs are aligned with the marking of the loading position of the vehicle body 5. After marking a at the starting point of the unloading position of No. 2, according to the loading order laid on the above-mentioned trough 2 on the right side, the loading device 21 loads the stacking lid group No. 1 of the stacking lid group from the No. 1 lid 15 laterally in order. Then, lay NO.1, NO.2 ... NO.8 at the unloading position on the trough 2 in order. When the laying on the front side of the traveling path is completed, after marking b on the rear end of the lid 15 of NO.8, the vehicle body 5 is moved backward, and the marking of the loading position is aligned with the marking b. From the rear side of the trough 2 according to the same removal order as
NO.1, NO.2 ... NO.8 and lay on the front side.

In the above laying work, after laying the eight lids 15 on the trough 2 and then moving the vehicle main body 5, the vehicle is moved to the positions marked A, B, C ... Move the main body 5 to match the unloading position,
The accurate movement distance of the vehicle body 5 is detected by the distance detection device 11 and is digitally displayed in the cab 37. The lid 1
When the length of 5 is 500 mm, the moving distance for 8 sheets is 500 mm × 8 sheets = 4,000 mm.

The apparatus of this embodiment includes the above-described cargo handling platform 7
Control means for controlling the movement of the crane device 23 in accordance with the loading position of the lid 15 from the above, loading order, unloading direction to the trough 2, or unloading position, and the like. The work is done automatically. As a result, the stacking order of the lids 15 of the stacking lid group of the cargo handling table 7 does not necessarily have to be taken out from the NO.1 lid 15, and for example, the lid 1 in the middle placed on NO.6 or NO.11.
The program can be set so that the lid can be taken out from No. 5, and even if the laying work is interrupted, the lid laying work can be continued from the previous work.

Next, the operation method of the handling device 21 of this embodiment will be described with reference to the flow charts shown in FIGS. First, after moving the vehicle body 5 to a predetermined position of the trough 2 on which the lid 15 is laid, the handling device 21 is activated by turning on the breaker of the control panel 34 at the site, and is provided on the control panel 34. The following switches are set and selected manually (step 1). In this step 1, selection of a mode changeover switch for manual operation, step operation, automatic operation, etc., selection of an unloading direction switch for selecting which of the left and right troughs 2 the lid 15 is to be installed, and which of the troughs 2 is used for the lid 15 Select the unloading position switch that selects whether to lay it in the position, select the lid type switch that selects the size of the lid 15 and the like, and select the loading position step NO that determines the position from which the lid 15 is loaded. Setting, where on the trough 2 the lid 15
Set the unloading position step NO, etc. that decides whether or not to install. (Here, the automatic operation is an operation method in which the boom 22 moves simultaneously in the three axis directions, and the step operation is an operation method in which the boom 22 moves one axis at a time.)

After making the above-mentioned various selections and settings, the origin return switch is turned on (step 2) to determine whether or not there is any abnormality in the movement of the crane device 23 (step 3). In this case, when the origin is set, it is necessary to confirm that the boom body 22b is in the retracted state and that the turning origin blue lamp that lights that the boom body 22b is at the origin of turning is turned on. When there is no abnormality in the movement of the crane device 23, the operation of lowering the ups and downs of the boom main body 22b and the boom main body 22b are performed.
The operation of shortening the length of b and the operation of manually rotating the boom main body 22b are performed (step 4), and the boom 22 is set at the origin limit (the first limit switch 31 provided on the crane device 23, the second limit switch 31). It is judged whether or not the respective origin positions of the limit switch 32 and the third limit switch 33) have been reached (step 5). If the movement of the crane device 23 is abnormal, the process goes to the abnormality processing loop (step 6), the abnormality lamp (red) is turned on, and the signal horn sounds for 5 seconds. In this case, the cause of the abnormality is investigated and repaired, the boom body 22b is moved in the manual mode, and then the automatic step mode is selected. Then, the reset switch is turned on, the abnormal lamp goes out, and the process returns to step 3.

In step 5, when the boom 22 reaches the origin limit, the boom main body 22b stops undulating, the undulation origin blue lamp lights up, and the boom main body 22b
The expansion / contraction of b stops and the expansion / contraction origin blue lamp lights up. After confirming the lighting of these blue lamps, the boom body 22
The suction device 25 is attached to the hook 24 at the tip of b. The boom main body 22b in this case is, as shown in FIGS.
The boom body 22b is positioned on the center line of the vehicle body 5 in the width direction, and the tip of the boom body 22b is positioned at the center of the suction device 25 placed at the forefront of the cargo handling platform 7 (step 7). In this state, loading work on the control panel 34 (*
By turning on the start switch of 1), the start push button lamp lights up in red and the remote control box can be used (step 8), the handling device 21 moves to the loading point (step 9), It is determined whether or not the movement of the crane device 23 is abnormal (step 1
0) If there is no abnormality, it is judged whether or not the suction device 25 has moved to the set step, that is, the position of the lid 15 to be taken out (step 11), and the suction device 25 is set to the set step (of the lid 15). Position) is reached, the loading step NO display will step up and the boom body 2
Expansion / contraction, undulation and turning of 2b are stopped (step 12).
In addition, only the first time is the same as the start NO. Setting. If there is an abnormality in step 10, the process returns to the abnormality processing loop (step 6).

When the movement of the boom 22 is stopped in step 12, it is judged whether the number of the loaded lids 15 is 8 (step 13).
With the lowering switch turned on, the cable 26 is sent out from the cable reel 27, the adsorption device 25 is loaded, and the lid 1 is loaded.
After contacting the surface of No. 5, the lowering switch is turned off (step 14). At this time, the remote control box can be used. In addition, in step 13, the lid 1 taken out
When the number of 5 reaches 8, the signal horn sounds for 1 second, and after confirming this, while checking the moving distance of the vehicle body 5 detected by the distance detection device 11, the vehicle body 5 is moved to the rear side of the traveling path. 4m to stop at a fixed position (Step 1
5) Go to step 14. With the suction device 25 in contact with the surface of the lid 15, the worker on the cargo handling table 7 turns on the suction button 25d of the suction device 25 to suck the lid 15 onto the suction pad 25c (step 16), and then hooks it. The winding switch 24 is turned on to wind the lid 15 to a predetermined height (step 17). Here, when the lid 15 is slightly rolled up and a predetermined gap is formed between the lid 15 and the stacked lid group, the winding is temporarily stopped, and an operator operates the lid clamp device 35 provided below the suction device 25. The clamp 35f is manually operated to rotate the clamp 35f to grip both sides of the lid 15, and even when the suction device 25 fails, the clamp 35
The lid 15 is prevented from falling by f.

In this state, the start switch is turned on (step 18), the tip of the boom body 22b is moved to the unloading position of the trough 2 (step 19), and it is determined whether or not the crane device 23 is operating normally. (Step 20). If there is no abnormality, it is determined whether the lid 15 has reached the set position on the trough 2 (step 21). If there is an abnormality in step 20, for example, when performing lid laying work in a tunnel (see FIG.
If the micro switch at the tip of the boom body 22b hits the tunnel side wall surface 50 to stop the crane device 23, the process returns to the abnormal processing loop of step 6. Trough 2 with lid 15 set in step 21
When the upper set position is reached, the boom body 22
Unloading step NO.
The display is stepped up (step 22). If there is an abnormality in step 21, step 1
Return to 9.

In step 22, the boom body 22b
When the movement of the hook stops, the lowering switch is turned on, the hook 24 is lowered to a predetermined position on the trough 2,
At the fixed position, the switch is turned off to stop the lowering (step 23). When the lid 15 stops at a predetermined position on the trough 2, a worker near the trough 2 pushes the release button 25e of the suction device 25 to remove the lid 15 from the suction pad 25c (step 24), and then the hoist switch of the hook 24. After turning on and winding up, the winding switch is turned off at a fixed position to stop the winding (step 25), and the process returns to step 8 of the next loading work (* 1). FIG. 14 is a flowchart showing a mode in which the loading point and the unloading point are changed during the work.
Turn on the unloading point reset switch (Step 2
6) Then, by pressing the start switch (step 27), the process proceeds to step 8 of the next loading work (* 1). This flow can be operated at any time while the crane device 23 is stopped.
In step 6, the step No. display for both loading and unloading points becomes the setting No. of the digital switch, and in step 27 the display NO.
Start from

[0040]

According to the automatic trough lid laying device of the present invention, the laying work of the lid is efficient without wasteful movement due to the combination of the traveling of the vehicle main body for a certain distance and the extension, undulation and turning of the handling device. Since the operation is performed by operation, a large number of lids can be continuously and efficiently laid on the trough, the labor for laying the lids can be saved, and the construction period can be shortened. In addition, the lid can be efficiently laid on either the left or right trough of the vehicle running path.

According to the automatic trough lid laying device of the second aspect, since the handling device is composed of the crane device and the suction device suspended by the hook at the tip of the boom,
The handling device can have a simple structure, which can facilitate the operation and reduce the cost.

According to the automatic trough lid laying device of the third aspect, since the suction device is provided with the lid clamping device, even if the suction device should fail, the lid may drop and be damaged, or an accident may occur. Is prevented.

According to the automatic trough lid laying device of the fourth aspect, since the switch is provided at the tip of the boom, the movement of the crane device is stopped before the tip part of the boom collides with an obstacle to damage the device. It is possible to prevent the occurrence of accidents. Further, since the limit switch for limiting the movement of the crane device is provided, it is possible to prevent the dangerous movement and the unnecessary movement of the crane device and to set the origin position of the crane device.

According to the automatic trough lid laying device of the fifth aspect, the boom can be automatically moved in accordance with the preset position, direction, and procedure, so that the efficiency is remarkably higher than that in the case where manual work is performed. The work can be performed safely while being realized.

According to the trough lid laying method of the sixth aspect, since the lid can be laid on the trough from an arbitrary loading position, the laying work can be performed in various situations.

According to the trough lid laying method of the seventh aspect, since the lid laid on the front side of the trough is laid from the rear side of the trough toward the front side, the movement of the crane device is prevented. Waste can be eliminated.

[Brief description of drawings]

FIG. 1 is a front view of an automatic trough lid laying device according to an embodiment of the present invention.

FIG. 2 is a plan view of the same.

FIG. 3 is a right side view in FIG.

FIG. 4 is a front view of the adsorption device in FIG.

FIG. 5 is a side view of the same.

6 is a plan view of the lid clamp device in FIG. 1. FIG.

FIG. 7 is an enlarged cross-sectional view of a portion where the lid clamp device in FIG. 6 is attached to the suction device.

8 is a partially enlarged front view of the vehicle main body for explaining the distance detection device in FIG. 1. FIG.

FIG. 9 is a right side view of the same.

FIG. 10 is an explanatory diagram for explaining a laying order of lids on the cargo handling table in FIG. 1.

11 is a flowchart of a method of operating the handling device of the embodiment in FIG.

12 is a flowchart of a method of operating the handling device of the embodiment in FIG.

13 is a flow chart of a method of operating the handling device of the embodiment in FIG.

FIG. 14 is a flowchart of an operating method for changing a loading point and an unloading point of the handling device of the embodiment in FIG.

[Explanation of symbols]

 1 Traveling path 2 Trough 3 Trough lid automatic laying device 5 Vehicle body 7 Cargo stand 15 Lid 21 Handling device 22 Boom 22a Base end 22b Boom body 24 Hook 25 Adsorption device 30 Switch (micro switch) 31, 32, 33 Limit switch 35 Lid clamp device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeo Shikari, 1-5-1, Kiba, Koto-ku, Tokyo Fujikura Stock Company (72) Inventor Kazuhiko Torii 1-1-5, Kiba, Koto-ku, Tokyo Stock company Fujikura (72) Inventor Minoru Suzuki 1-10-14 Kitaueno, Taito-ku, Tokyo Japan Railway Construction Corporation Kanto branch office

Claims (7)

[Claims] 1. A trough lid automatic laying device for automatically laying a lid on a trough provided laterally along a vehicle running path, the vehicle body being able to run along the vehicle running path, and this vehicle. A cargo handling platform provided on the main body and capable of stacking and stacking a plurality of lids side by side in the longitudinal direction of the traveling path; and a lid provided on the vehicle main body so as to be extendable, retractable, and turnable, and having a lid on the cargo handling platform. An automatic trough lid laying device comprising: a handling device that can be loaded and laid on a lateral trough. 2. The handling device comprises a crane device having a boom having a base end portion installed at a rear portion of the vehicle body, which can be extended, retracted, swiveled, and a hook provided at a tip end of the boom and capable of moving up and down. The trough lid automatic laying device according to claim 1, further comprising: a suction device that is hung on a hook of the crane device and that is capable of adsorbing or releasing the lid. 3. The automatic trough lid laying device according to claim 2, wherein the suction device is provided with a lid clamp device capable of grasping or releasing the sucked lid from both sides. 4. The boom end of the crane device comprises:
When the tip of the boom approaches an obstacle, a switch is provided for stopping the boom to prevent the collision with the obstacle, and the crane device has a base end portion for the boom. 4. The automatic trough lid laying device according to claim 2 or 3, wherein limit switches for limiting the amount of expansion and contraction, the undulation angle, and the turning angle are respectively provided. 5. The hand link device automatically expands, retracts, and swivels the boom to load the lids loaded on the cargo handling platform in a predetermined order to the unloading position on the trough. A control means for laying is provided, and the loading position, the unloading direction, the unloading position, etc. of the lid can be set on the site, and the origin position of the handling device is set before starting the loading operation. 5. The automatic trough lid laying device according to claim 2, 3 or 4, wherein: 6. A trough lid laying method for laying a lid on a trough using the automatic trough lid laying apparatus according to claim 1 or 2, wherein the lid is provided on the cargo handling platform along the longitudinal direction of the traveling path. They are loaded side by side in rows and the lids loaded in these two rows are loaded laterally in order from the front row or the middle row of the traveling path to the rear row side, and laid on either one of the troughs located on the left and right sides of the vehicle body. A method of laying a trough lid characterized by carrying out. 7. A trough lid laying method for laying a lid on a trough using the trough lid automatic laying device according to claim 1 or 2, wherein the lid loaded on the cargo handling platform is loaded. Laying a plurality of sheets along the longitudinal direction from the front side of the runway on one of the troughs located on the left and right of the trough, and moving the vehicle body to the rear side of the runway at the time of laying the plurality of sheets And, after this step, a plurality of lids loaded on the cargo handling platform are continuously laid from the rear side to the front side of the trough, and the lid is laid continuously with the lid laid on the front side. A method of laying a trough lid, which is characterized in that