JPH1054001A - Track operation car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rotate a grip device by swivel of an upper swiveling body to make it possible to move horizontally a bridge sleeper in parallel by simple operation. SOLUTION: An operating signal of an operating member 40 is inputted to a controller 74, pressure oil is supplied to a swiveling hydraulic motor 70 with the controller 74 to rotate an upper swiveling body, its swiveling angle and a rotational angle of a grip device 31 are inputted to the controller 74, and pressure oil is supplied to a rotational hydraulic motor 32 to rotate the grip device 31 so that the swiveling angle coincides with the rotational angle. By the constitution, the upper swiveling body is swiveled with only operation of the operating member 40 and, at the same time, the grip device 31 is rotated to move a bridge sleeper horizontally in parallel.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track work vehicle for performing work of replacing bridge sleepers while traveling on rails of a railway.

[0002]

2. Description of the Related Art As a track work vehicle for exchanging bridge sleepers,
For example, as shown in FIG. 1, an upper revolving structure 3 is attached to a body 2 capable of self-propelling on a rail 1 of a railway so as to be able to swing freely, and a bridge sleeper is gripped by an arm 4 which is attached to the upper revolving structure 3 so as to be vertically swingable. A device equipped with a device 5 is known.

[0003] As the bridge sleeper gripping device 5 described above, for example, one disclosed in Japanese Patent Application Laid-Open No. 4-327611 is known. As shown in FIG. 2, the bridge sleeper gripping device 5 rotatably mounts a main body 7 on a mounting base 6 by a rotation mechanism 8.
A bucket body 9 is fixed to the main body 7 and a gripping arm 10 is swingably provided. A gripping cylinder 11 is connected to the gripping arm 10 and the main body 7 to form a bridge between the bucket body 9 and the gripping arm 10. The sleeper 12 is gripped.

The following procedure is used to replace a bridge sleeper in the above-mentioned track work vehicle. Bridge sleepers 12 to rail 1
When pulling out more, the vicinity of the end of the bridge sleeper 12 is gripped by the bridge sleeper gripping device 5 as shown in FIG. At this time, the main body 7 is rotated by the rotation mechanism 8 and the arm 4 and the bridge sleeper 12 are rotated.
Can be grasped even if it is not a right angle.

[0005] The upper swing body 3 is swung to hold a bridge sleeper gripping device 5.
The bridge sleeper 12 being gripped is pulled out in the direction of the arrow a, and the bridge sleeper 12 being held by rotating the main body 7 with the rotating mechanism 8 so that the gripped bridge sleeper 12 does not interfere with other bridge sleepers. The bridge sleeper 12 is pulled out from the rail 1 while maintaining a substantially parallel posture.

When the bridge sleeper 12 is inserted, the rail 1
The vicinity of the end of the bridge sleeper 12 placed outside of the bridge sleeper is gripped by the bridge sleeper gripping device 5. At the same time as the upper swing body 3 is swung, the bridge sleeper held by rotating the main body 7 by the rotating mechanism 8 is inserted under the rail 1 while maintaining a substantially horizontal posture.

That is, since the bridge sleeper gripping device 3 is attached to the revolving arm 4, when the bridge sleeper is pulled out and inserted, the bridge sleeper moves along a circular arc locus. The bridge sleepers are rotated so that they move while maintaining a substantially horizontal posture.

[0008]

As described above, in order to pull out and insert the bridge sleeper, the operator turns the upper swing body 3, for example, switching of an operation valve for supplying hydraulic oil to the swing hydraulic motor. An operation of rotating the rotation mechanism 8 while performing the operation, for example, a switching operation of an operation valve for supplying pressure oil to the rotation hydraulic motor 13 in FIG. 2 is performed.

Therefore, since two operations are performed at the same time, the operations are very troublesome and require operator skill.

Therefore, an object of the present invention is to provide a railroad working vehicle capable of solving the above-mentioned problems.

[0011]

The first invention is directed to a lower vehicle body 20 capable of traveling on rails, an upper revolving structure 24 pivotally mounted on the lower vehicle body 20, and an upper revolving structure 24. Work arm 26 which is mounted to be able to swing up and down
And a gripper 31 rotatably mounted on the working arm 26, the upper revolving unit 2
A trajectory provided with control means for rotating and rotating the gripping device 4 and the gripping device 31 in mutually opposite directions so that the gripping arm 34 of the gripping device 31 is always in a fixed direction with respect to the lower vehicle body 20. It is a working vehicle.

According to the first aspect of the present invention, when the upper revolving unit 24 is turned while the gripping device 31 is gripping the bridge sleeper, the gripping device 31 is rotated in a direction opposite to the revolving direction of the upper revolving unit 24, and the gripping arm 34 is rotated. Is always in a fixed direction with respect to the lower vehicle body 20.

Thus, the bridge sleeper can be moved to the left and right in parallel by simply turning the upper turning body 24, and can be pulled out or inserted from the rail, thereby simplifying the operation.

According to a second aspect of the present invention, the control means according to the first aspect of the present invention includes a hydraulic motor 70 for rotating the upper revolving superstructure 24.
And a first control for supplying pressure oil to the turning hydraulic motor 70.
, A first means for detecting the turning angle of the upper turning body 24, and a rotating hydraulic motor 3 for rotating the gripping device 31.
2, a second valve for controlling the supply of pressurized oil to the rotary hydraulic motor 32, a second means for detecting the rotation angle of the gripping device 31, and an operation member 40 for switching the first valve. ,
According to another aspect of the present invention, there is provided a track work vehicle including a third means for switching a second valve according to a difference between a turning angle detected by the first means and a rotation angle detected by the second means, and the control means.

According to the second aspect, the turning hydraulic motor 7 is operated by operating the control member 40 to switch the first valve.
0 rotates and the upper rotating body 24 rotates, the second valve is switched according to the difference between the rotating angle and the rotation angle, the rotation hydraulic motor 32 rotates, and the gripping device 31 rotates.

Thus, by operating the control member 40, the grip sleeper can be moved in the left and right directions in parallel and pulled out or inserted from the rail.

According to a third aspect of the present invention, there is provided a lower vehicle body 20 capable of traveling on a rail, an upper revolving body 24 pivotally mounted on the lower vehicle body 20, and a first parallel body vertically mounted on the upper revolving body 24. A track including a link 27, a working arm 26 comprising a second parallel link 28 horizontally attached to the first parallel link 27, and a gripping device 31 rotatably attached to the tip of the second parallel link 28. In the work vehicle, an operation unit that rotates in the left-right direction, moves in the front-rear direction, and moves in the up-down direction, first force applying means that applies a forward force to the operation unit, and An operating member 40 provided with a second force applying means for applying an opposing force, a turning means for turning the upper revolving body 24 left and right by turning the operating part of the operating member 40 right and left, By moving back and forth Forward and backward swing means for swinging the first parallel link 27 back and forth, up and down swing means for swinging the second parallel link 28 up and down by moving the operation section up and down, and turning the operation section left and right. Means for actuating one of the first force applying means and the second force applying means in accordance with the position of the operating section in the front-rear direction when the operating section is moved so that the operating section can be moved substantially linearly in the left-right direction. The upper revolving unit 24 and the gripping device 31 are turned and rotated in opposite directions to each other so that the gripping arm 34 of the gripping device 31 is always in a fixed direction with respect to the lower vehicle body 20. It is a railroad working vehicle.

According to the third aspect of the present invention, when the operator turns the upper revolving unit 24 left and right while holding the operating section of the operating member 40 with his / her hand, the operating section faces forward in accordance with the front-rear position of the operating section. And the rearward force act on the operation unit, the operator can operate the operation unit in a direction opposite to the forward and rearward forces to move the operation unit substantially linearly in the left-right direction.

As a result, the gripping device 31 moves linearly in the left-right direction.

The gripping device 31 rotates in accordance with the rotation of the upper swing body 24, and the direction of the gripping arm 34 with respect to the lower vehicle body 20 is always constant.

As a result, the bridge sleeper gripped by the gripping device 31 can be moved left and right in parallel.

Accordingly, the bridge sleeper can be moved straight and in the horizontal direction in combination with the above, so that the bridge sleeper can be easily pulled out from the rail and inserted.

According to a fourth aspect of the present invention, a pair of right and left rails for moving the roller gripping device 36 provided on the lower traveling body 20 in the first or third aspect of the invention to a position separated from a position where the roller 100 contacts the outer surface of the rail head. A track work vehicle comprising a roller-type rail gripper and a pair of left and right hook-type rail grippers that move to a position separated from a position in contact with the outer surface of the rail bottom.

According to the fourth aspect of the present invention, the track work vehicle can travel with the pair of left and right roller-type rail gripping portions in contact with the outer surfaces of the left and right rail heads and gripping the rail. The rails can be gripped by contacting the parts with the outer surfaces of the left and right rail bottoms.

This allows the vehicle to travel along the rails,
It is possible to prevent the railroad work vehicle from overturning at the time of work, and it is also possible to prevent the railroad work vehicle from falling over at the rail joint.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG.
A pair of left and right crawler-type traveling bodies 21 is attached to the lower body 20. A pair of left and right frames 22
Are mounted on a cylinder (not shown) so that they can swing up and down. Rails 23 such as iron wheels and a motor (not shown) for driving the rails 23 are attached to each frame 22.

Therefore, if the frame 22 is swung upward, the crawler-type traveling body 21 comes into contact with the ground,
Swings downward, the track-traveling body 21 comes up because the rail-traveling wheel 23 comes into contact with the rail B on the bridge sleeper A,
It is a track-and-land running vehicle that can run on the ground and on rails.

An upper revolving structure 24 is provided on the lower vehicle body 20 so as to be freely rotatable.
5, and a work arm 26 is mounted so as to be vertically swingable. This work arm 26 is
A first parallel link 27 vertically swingably mounted on the first parallel link 27, a second parallel link 28 horizontally mounted on the first parallel link 27 so as to be vertically swingable,
It comprises a first cylinder 29 that swings the parallel link 28 and a second cylinder 30 that swings the second parallel link 28.

A gripping device 31 is attached to the tip of the second parallel link 28. The gripping device 31 includes a pair of gripping arms 3 attached to a main body 33 that is rotated by a hydraulic motor 32 for rotation.
4 is attached by a holding cylinder 35 so as to be freely opened and closed. The bridge sleeper A is gripped by the gripping device 31 and the bridge sleeper A gripped by driving the rotation hydraulic motor 32.
To rotate.

Rail holding devices 36 for holding the rail B are mounted on the left and right sides of each frame 22, respectively.
The rail gripping device 36 grips the rail B to prevent the railroad work vehicle from falling over during work or traveling.

The upper swing body 24 is provided with a swing angle sensor 37, and the gripping device 31 is provided with a rotation angle sensor 3
8 are provided.

A steering member 40 is mounted on the upper revolving unit 24 in front of the cockpit 25. The operation member 40 is called a master lever, and has a substantially similar shape to the working arm 26 as shown in FIGS. Thus, the working arm 26 and the control member 40 constitute a master-slave type manipulator.

Specifically, a pin 42 is fixed to one end of a first lever 41 constituting a first link, and the pin 42 is rotatably mounted on a bracket 43 via a bearing or the like. The rotation shaft 44a of the first angle sensor 44 is attached to the pin 42, and the main body 4 of the first angle sensor 44
4b is fixedly attached to the bracket 43. Thereby, the operation angle of the first lever 41 is changed to the first angle sensor 4.
4 is detected.

One end of a second lever 45 constituting a second link is rotatably attached to the other end of the first lever 41 by a pin 46. An operation portion, for example, a grip lever 47 is fixedly attached to the other end of the second lever 45. A bearing 48 of the first ball screw 47 is fixedly attached to an intermediate portion of the first lever 41. First
The ball screw 47 is attached to an output shaft of the first servo motor 49. The first servomotor 49 is rotatably attached to the bracket 43 by a pin 50.

The second lever 45 constituting the second link
One end of the base lever 51 is rotatably attached to the bracket 43 by the pin 42, and the rod 52 is rotatably attached to the other end. The rod 52 is rotatably attached to an intermediate portion between the base lever 51 and the second lever 45, and the length of the rod 52 is adjusted so that the base lever 51 and the second lever 45 are parallel to each other.
A bearing 54 of the second ball screw 53 is fixedly attached to an intermediate portion of the base lever 51. The second ball screw 53 is attached to an output shaft of the second servo motor 55. The second servomotor 55 is rotatably attached to the bracket 43 by pins 56.

The second angle sensor 5 is mounted on the bracket 43.
7 is fixedly mounted, and the axis 5 of the second angle sensor 57 is
One end of a lever 58 is fixedly attached to 7a. One end of a lever 59 is rotatably attached to the other end of the lever 58, and the other end is rotatably attached to a bearing 54 of the second ball screw 53. Thus, the operation angle of the second lever 45 is detected by the second angle sensor 57.

The bracket 43 has a shaft 59 mounted on the bottom thereof, and is rotatably mounted on a mounting base 60. The shaft 61a of the third angle sensor 61 is attached to the end of the shaft 59, and the main body 61b of the angle sensor 61 is fixedly attached to the attachment base 60. A gear 62 is fixedly attached to a portion of the shaft 59 near the bracket 43, and the third gear fixedly attached to the attachment base 60.
The gear 64 is engaged with a gear 64 fixedly attached to the output shaft of the servomotor 63. Thus, the rotation of the bracket 43 in the left-right direction is detected by the third angle sensor 61.

A spring 65 is engaged with the shaft 59, and its position is determined by a pin 66 of the mounting base 60, and a certain posture is maintained with respect to the mounting base 60.
When rotated left and right, the spring force tries to return to the original posture.

As described above, when the operator grips the grip lever 47 and moves in the front-back direction, the first angle sensor 44 outputs a signal corresponding to the movement stroke. When the grip lever 47 is moved in the up-down direction while being held, the second angle sensor 57 outputs a signal corresponding to the movement stroke.

When the grip lever 47 is turned to the right or left while being held, the third angle sensor 61 outputs a signal corresponding to the turning stroke.

Further, by outputting a torque command from a controller to be described later to the first servo motor 49 via a servo driver, the first servo motor 49 rotates to generate a torque. This rotation is the first ball screw 47
And the bearing 48 is driven, whereby the first lever 41 constituting the first link is driven in the front-rear direction with the pin 42 rotatably mounted on the bracket 43 as the center of rotation. Therefore, the pilot holding the grip lever 47
The force is felt at hand by the driving force of the first link (first lever 41) in the front-rear direction.

By outputting a torque command to the second servomotor 55, the operator who has gripped the grip lever 47 in the same manner as described above can be at hand with the vertical driving force of the second link (second lever 45). You will feel the power.

FIG. 8 is a control circuit diagram.
The hydraulic pressure for discharge from the hydraulic pump 71 is supplied to the hydraulic motor for rotation 70 for rotating the
The supply is controlled by an electromagnetic proportional control valve 72 and a second electromagnetic proportional control valve 73, respectively.

An operation signal of the control member 40 (an angle signal of the third angle sensor 61) is input to a controller 74. The controller 74 includes a turning angle sensor 37,
A signal from the rotation angle sensor 38 and a detected pressure signal from a first pressure sensor 75 for detecting the pressure of one port of each hydraulic motor and a second pressure sensor 76 for detecting the pressure of the other port are input.

The controller 74 has an automatic switch 7
7, an automatic signal is input from a manual right rotation switch 78, and a left rotation signal is input from a manual left rotation switch 79.

An unload valve 80 is provided in the discharge passage 71a of the hydraulic pump 71. The unload valve 80 is held at a drain position b by a spring 80a, and is brought into a communication position c when the solenoid 80b is energized.

A circuit 81 connected to each port of each hydraulic motor is provided with a pilot check valve 82, and a pilot pressure is supplied from an electromagnetic switching valve 83.
The electromagnetic switching valve 83 is held at a drain position b by a spring 83a, and is brought into a communication position c when the solenoid 83b is energized.

The unload valve 80 reduces the energy loss by discharging the pressure oil discharged from the hydraulic pump 71 to the tank when each hydraulic motor is not driven. The pilot check valve 82 prevents backflow from the hydraulic motors when the respective hydraulic motors are not driven so that the hydraulic motors do not rotate by external force.

Next, the specific structure of the rail holding device 36 will be described. As shown in FIG. 9, the mounting base 90 is fixed to the left and right frames 22. The first lever 91 is attached to the mounting base 90.
Is mounted so as to be vertically swingable with a first pin 92. A connecting rod 93 is connected to the upper end of the first lever 91 by a second pin 94, and the left and right first levers 91 are connected by the connecting rod 93 to form a parallel four-bar link.

A second lever 95 is connected to a lower end of the first lever 91 by a third pin 96 so as to be vertically swingable. A cylinder extends between the upper portion of the second lever 95 and the intermediate portion of the first lever 91. 97 is connected by a fourth pin 98 and a fifth pin 99. A roller 1 with a flange is provided under the second lever 95.
00 is rotatably mounted around the vertical axis 101.

When the cylinder 97 is extended, the second lever 95 swings downward, and the roller 100 comes into contact with the outer surface 102 of the head of the rail B as shown in FIG.
When the retracting operation is performed, the second lever 95 swings upward as shown in FIG. 9 and the roller 100 is positioned above the rail B. This constitutes a roller type rail gripper.

The second lever 95 includes a third lever 103.
Are connected to each other by a sixth pin 104 so as to be vertically swingable. The third lever 103 is held in the upward posture shown in FIG. 9 by fitting the seventh pin 105 into a first pin hole 106 formed near the upper part of the second lever 95, and the seventh pin 105 is moved to the second position. By fitting into the second pin hole 107 formed near the lower part of the lever 95, the lower posture shown in FIG. 11 is obtained.

The third lever 103 has a fourth lever 10
8 is connected by an eighth pin 109 so as to be swingable up and down. The fourth lever 108 connects the ninth pin 110 to the third lever 10.
9 is fitted into the third pin hole 111 on the lower side of FIG.
When the ninth pin 110 is fitted into the fourth pin hole 112 on the upper side of the third lever 103, the ninth pin 110 is shifted to the outer side position indicated by a virtual line in FIG.

When the third lever 95 is set to the downward position as shown in FIG. 11 and the fourth lever 108 is set to the outer position, and the cylinder 97 is extended from this state, the roller 100 moves to the rail B as shown in FIG. Before the contact, the hook 108a at the lower end of the fourth lever 108 contacts the lower outer surface 113 of the rail B. This constitutes a hook-type gripper.

By supporting the bottom outer surface 113 of the rail B with the hook 118a of the fourth lever 118 as shown in FIG. 12, the rail can be gripped even at the rail joint. That is, since the head of the rail B becomes wider at the rail joint portion as shown in FIG. 11 and cannot be gripped by the roller 100, the third lever 103, the fourth lever 108
Is changed, and the lower outer surface 113 of the rail B is gripped by the hook 108a of the fourth lever 108.

The reason why the fourth lever 108 is set to the inner position is that the fourth lever 108 projects outward from the outer surface of the crawler-type traveling body 21 when the rail B is gripped by the roller 100 as shown in FIG. This is to prevent it.

Next, the operation of replacing a bridge sleeper will be described. Crawler type traveling body 2 from a shelter near the replacement work site such as bridge sleepers
The self-propelled movement to the rail is performed by 1. The rails 2 mounted on each of the frames 22 are pivoted downward by swinging the frames 22 attached to the front and rear portions of the crawler-type traveling body 21 on the rails so as to be vertically swingable.
3 is engaged with the rail, and the crawler-type traveling body 21 is further lifted from above the rail. In this state, the rail driving wheels 23 are driven to move on the rails at high speed to a work site for replacing a bridge sleeper or the like.

In the case of replacing a bridge sleeper or the like, the frame 21 attached to the front and rear portions of the crawler-type traveling body 21 so as to be vertically swingable is swung upward.
The crawler-type traveling body 21 rides on the rail with the crawler-type traveling body 21 engaged with the rail traveling wheel 23 rotatably attached to each frame 21 while preventing the rail from derailing. Self-propelled movement to work position at 21.

At the same time, the left and right rollers 100 of the rail holding device 36 are pressed against the head outer surfaces 102 of the left and right rails B to be held. As a result, the work vehicle is securely fixed on the rail, the work can be performed extremely safely, and in this state, it is possible to move on the rail in the front-back direction. Since the joints of the rails cannot pass through the rollers, the postures of the third and fourth levers 103 and 108 are changed, and the lower outer surface 113 of the rail between the bridge sleepers is moved to the fourth lever 10.
The work vehicle is fixed on the rail by gripping with the hook 108 of No. 8. In this case, each time the work vehicle moves, the grip on the outer surface of the lower part of the rail is released and gripped.

When pulling out the bridge sleeper A from the rail B, the end of the bridge sleeper A is gripped by the gripping device 31 as shown in FIG. The operation at this time is as follows. In FIG. 8, the grip lever 47 of the control member 40 is rotated left or right to input a signal of the third angle sensor 61 to the controller 74.

As a result, the controller 74 energizes the first solenoid 72a or the first solenoid 72b of the first electromagnetic proportional control valve 72 to switch the first electromagnetic proportional control valve 72 to switch one of the ports of the hydraulic motor 70 for turning. Pressure oil is supplied to the other port, and the upper swing body 24 is swung to position the gripping device 31 at the end of the bridge sleeper A.

By operating the manual right rotation switch 78 or the manual left rotation switch 79, a right rotation signal or a left rotation signal is input to the controller 74.

As a result, the controller 74 energizes and switches the first solenoid 73a or the second solenoid 73b of the second electromagnetic proportional control valve 73 to supply pressure oil to one port or the other port of the rotary hydraulic motor 32. Then, the gripping device 31 is rotated left or right, and the gripping arm 34 is gripped in accordance with the direction of the bridge sleeper A.

When the gripping of the bridge sleeper A is completed, the automatic switch 77 is operated to input an automatic signal to the controller 74 to set the automatic mode. In this state, the grip lever 47 is operated to the right to input a right turning signal from the third angle sensor 61 to the controller 74.

As a result, the controller 74 energizes and switches the first solenoid 72a of the first electromagnetic proportional control valve 72, supplies pressure oil to one port of the turning hydraulic motor 70, and turns the upper turning body 24 clockwise. (In the direction of the arrow in FIG. 13).

When the upper revolving unit 24 makes a right turn, a right turning angle signal is input from the turning angle sensor 37 to the controller 74. The controller 74 calculates the turning angle of the upper turning body 24 based on the input right turning angle signal, and energizes the second solenoid 73b of the second electromagnetic proportional control valve 73 to control the other of the rotating hydraulic motor 32. The pressure oil is supplied to the port, and the gripping device 31 is rotated left (in the direction of the arrow in FIG. 13).

When the gripping device 31 rotates, a rotation angle signal is input from the rotation angle sensor 38 to the controller 74, and the controller 74 calculates the rotation angle of the gripping device 31, and calculates the rotation angle of the gripping device 31 so that the rotation angle matches the turning angle. 2
The power supply to the second solenoid 73b of the electromagnetic proportional control valve 73 is controlled.

As described above, the gripping device 31 rotates by the same angle in the opposite direction to the turning direction in accordance with the turning of the upper revolving unit 24, so that the direction of the holding arm 34 of the gripping device 31 with respect to the lower vehicle body 20 is always maintained. Become constant, bridge sleeper A
Are pulled out in parallel.

If the bridge ties A cannot be pulled out at once by turning the upper slewing body 24, after the upper slewing body 24 is turned by a certain angle, the grip of the bridge ties A by the gripping device 31 is released. In the same manner as described above, the position near the center of the bridge sleeper A is gripped again. Then, the turning operation may be repeated as described above.

When the bridge sleeper A is inserted, FIG.
As shown in the figure, the bridge sleeper A on the side of the rail B is
The upper revolving unit 24 is pivoted in the direction of the arrow as described above, and at the same time, the gripper 31 is automatically rotated in the direction of the arrow as described above.

In the above description, when the automatic switch 7 is operated and the controller 74 is in the automatic mode, the manual left rotation switch 78 and the manual right rotation switch 79 are operated to send a left rotation signal and a right rotation signal to the controller 74. When input, the second electromagnetic proportional control valve 7 takes priority over the automatic mode.
3, the first solenoid 73a and the second solenoid 73b are energized to rotate the gripping device 31 independently of the upper swing body 24.

At this time, the rotation angle output from the rotation angle sensor 38 and the rotation angle stored in the automatic mode are calculated, and the rotation position after the single rotation operation and the rotation angle of the rotation angle sensor 37 are compared. The gripping device 31 is automatically rotated as described above.

In this manner, the gripping device 31 rotates suddenly due to the difference between the values of the rotation angle sensor 38 and the turning angle sensor 37 immediately after returning to the automatic mode after the gripping device 31 is independently rotated. Is prevented.

Next, a second embodiment of the present invention will be described. FIG. 15 is a control circuit diagram, in which a third electromagnetic proportional control valve 120 for supplying pressure oil to the first cylinder 29 and a fourth electromagnetic proportional control valve 121 for supplying pressure oil to the second cylinder 30 are provided. Pilot check valves 82 are provided in circuits 81 connected to the first and second cylinders 29 and 30, respectively.

The angle signals of the first, second and third angle sensors 44, 57 and 61 of the operation member 40 are input to the controller 74. The controller 74 receives angle signals from a fourth angle sensor 122 for detecting the angle of the first parallel link 27 with respect to the vertical attitude and a fifth angle sensor 123 for detecting the angle of the second parallel link 28 with respect to the horizontal attitude. The controller 74 includes an operation switch 12.
4, a wall reaction force signal is input.

Next, the operation and the details of each part will be described.
At the time of the single operation (when the wall reaction force signal is not input from the operation switch 124 to the controller), the angle signal is input from the third angle sensor 61 to the controller 74 by rotating the grip lever 47 to the left and right. The controller 74 is the first solenoid 7 of the first electromagnetic proportional control valve 72.
The switching is performed by energizing the 2a or the second solenoid 72b, and pressurizing oil is supplied to one port or the other port to the turning hydraulic motor 70 to turn the upper turning body 24 right and left.

When the grip lever 47 is operated back and forth, an angle signal is input from the first angle sensor 44 to the controller 74. As a result, the controller 74 energizes and switches the first solenoid 120a or the second solenoid 120b of the third electromagnetic proportional control valve 120 to supply pressure oil to the extension chamber or the contraction chamber of the first cylinder 29.

As a result, the first cylinder 29 extends or contracts, and the first parallel link 27 swings forward or backward.

When the grip lever 47 is operated up and down, an angle signal is input from the second angle sensor 57 to the controller 74. As a result, the controller 74 energizes and switches the first solenoid 121a or the second solenoid 121b of the fourth electromagnetic proportional control valve 121, and the second cylinder 30
Supply the pressurized oil to the expansion or contraction chamber.

As a result, the second cylinder 30 extends or contracts, and the second parallel link 28 swings upward or downward.

When the bridge sleeper is pulled out, FIG.
The work arm 26 is directed forward as shown in FIG.
In step 1, the bridge sleeper A is gripped.

In the state described above, a wall reaction force signal is input from the operation switch 124 to the controller 74. Accordingly, the controller 74 turns upward based on the angle signal of the fourth angle sensor 122 and the known length of the first parallel link 27 and the angle signal of the fifth angle sensor 123 and the known length of the second parallel link 28. The distance X from the center of rotation 24a of the body 24 to the center 31a of the gripping device 31 is calculated.

More specifically, the longitudinal movement amount of the first parallel link 27 is calculated based on the length of the first parallel link 27 and the front-back inclination angle with respect to the vertical. The longitudinal movement amount of the second parallel link 28 is calculated based on the length of the second parallel link 28 and the vertical inclination angle with respect to the horizontal. And the turning center 24
The distance X from the center of rotation 24a to the gripping device 31 is calculated based on the known length from "a" to the center 31a of the gripping device 31 and the respective amounts of forward and backward movement.

The actual initial longitudinal distance X ₀ (X ₀ = X _COS θ) from the turning center 24 a to the center 31 a of the gripper 31 based on the distance X calculated as described above and the angle signal of the turning angle sensor 37. ) Is calculated and stored. θ
Is a turning angle that is zero when the upper revolving unit 24 is in a straight forward-facing posture, and becomes gradually larger when the upper revolving body 24 turns right and left from that posture.

In the case of FIG. 16, the turning angle is zero and _X0
= X.

In the above-described state, the grip lever 47 is turned to the left or right (right side), and the upper turning body 24 is turned rightward in FIG. 16 in the same manner as described above.

At this time, the grip lever 47 rotates along the circular arc locus Y about the vertical axis 59 as shown in FIG. 17, so that the grip lever 47 does not move in the front-rear direction with respect to the bracket 43. The angle signal of the second angle sensor 57 does not change.

For this reason, since the upper body 24 turns while the distance X is constant, the gripping device 31 moves along the circular locus.

[0089] On the other hand, the turning angle theta is sequentially increased for the pivoting of the upper frame 24 is detected by the turning angle sensor 37, the controller 74 calculates the current the longitudinal distance X ₁ on the basis of the turning angle theta. The current and longitudinal distance X ₁ to Ku comparing longitudinal distance X ₀ of the initial above.

Here, as shown in FIG. 17, the width S of the dead zone
When (X ₀ + S <X ₁ ), the controller 74 outputs a torque command necessary for moving the grip lever 47 backward to the motor driver 125, and drives the first servo motor 49, The first lever 41 is moved backward (FIG. 15).
Is applied to move the arrow d).

As a result, the operator can use the grip lever 47
The operator feels the force (reaction force) of moving the lever backward (in the direction of arrow d in FIG. 15), and the operator moves the grip lever 47 forward (in the direction of arrow e in FIG. 15) so that the force disappears. Avoid feeling.

That is, when the operator turns the grip lever 47 to the right by the angle α, if the grip lever 47 is located forward of the dead zone width S, a backward force is applied. The grip lever 47 is operated backward by sensing that the operation has been performed forward of S, and is positioned within the width S of the dead zone so that the force toward the rear is not sensed.

When the grip lever 47 is located within the width S of the dead zone, (X ₀ −S <X ₁ <X ₀ + S) holds.
In this case, no torque command is output to the motor driver 125. This allows the operator to move forward,
When the rearward force is not sensed, it can be known that the grip lever 47 is located within the width S of the dead zone.

When the operator operates the grip lever 47 to the rear of the dead zone width S, (X ₁ <X ₀ −S) is satisfied. As a result, the controller 74 outputs a torque command for applying a forward force to the motor driver 125 and drives the first servomotor 49 to apply a force for moving the grip lever 47 forward (in the direction of arrow e in FIG. 15). I do.

As a result, the operator can operate the grip lever 47
Is detected behind the dead zone width S, and the grip lever 47 is operated forward so that the force is not applied.

As described above, the operator can linearly operate the grip lever 47 in the left-right direction within the width S of the dead zone.

As a result, the first lever 41 is swung forward as the grip lever 47 is rotated left and right, so that an angle signal is input from the first angle sensor 44 to the controller 74, and the controller 74 outputs the third signal. The first solenoid 120a of the electromagnetic proportional control valve 120 is energized and switched.
The pressure oil is supplied to the extension chamber of the first cylinder 29 to extend.

For this purpose, the first parallel link 27 swings forward and moves from the turning center 24a to the center 31a of the gripping device 31.
The current longitudinal distance X ₁ is the initial longitudinal distance X of up to
The range is ₀ ± S.

Therefore, when the upper swing body 24 is swung, the gripping device 31 moves straight and horizontally.

In the above description, the provision of the dead zone causes the gripping device 31 to move linearly right and left while moving back and forth within the width S of the dead zone. The gripping lever 31 may be moved to move the gripping device 31 linearly rightward without moving it back and forth.

However, if the dead zone is not provided, if the grip lever 47 moves slightly back and forth from a predetermined position, a force in the front-rear direction acts on the grip lever 47 abruptly, so that the operator's operational feeling is poor. It is preferable that the force acting on the grip lever 47 is increased as the grip lever 47 approaches the front and rear of the dead zone, so that the operator's operational feeling is better.

Further, at the time of the above operation, similarly to the first embodiment, the gripping device 31 is changed according to the turning angle of the upper turning body 24.
Is rotated in the opposite direction to the upper swing body 24 so that the bridge sleeper moves in parallel.

[Brief description of the drawings]

FIG. 1 is a plan view of a conventional track work vehicle.

FIG. 2 is a front view of a conventional gripping device.

FIG. 3 is an overall front view showing the embodiment of the present invention.

FIG. 4 is a front view of the steering member.

FIG. 5 is a sectional view taken along line CC of FIG. 4;

FIG. 6 is a sectional view taken along line DD of FIG. 4;

FIG. 7 is a sectional view taken along the line EE of FIG. 4;

FIG. 8 is a control circuit diagram showing the first embodiment.

FIG. 9 is a front view of the rail holding device.

FIG. 10 is a front view of a state in which the outer surface of the rail head is gripped by rollers.

FIG. 11 is a front view of the rail holding device.

FIG. 12 is a front view of a state in which the outer surface of the rail bottom is gripped by a fourth lever.

FIG. 13 is an explanatory diagram of a pull-out operation of a bridge sleeper.

FIG. 14 is an explanatory diagram of an operation of inserting a bridge sleeper.

FIG. 15 is a control circuit diagram showing a second embodiment.

FIG. 16 is an explanatory diagram of a pull-out operation of a bridge sleeper.

FIG. 17 is an explanatory diagram of the operation trajectory of the grip lever.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Rail 3 ... Upper revolving body 5 ... Gripping device 12 ... Bridge sleeper 20 ... Lower body 21 ... Crawler type traveling body 23 ... Rail traveling wheel 24 ... Upper revolving body 26 ... Work arm 27 ... First parallel link 28 ... No. 2 parallel link 29 ... first cylinder 30 ... second cylinder 31 ... gripping device 32 ... rotating hydraulic motor 34 ... gripping arm 36 ... rail gripping device 37 ... turning angle sensor 38 ... rotation angle sensor 40 ... operating member 41 ... first Lever 43 Bracket 44 First angle sensor 45 Second lever 47 Gripping lever 49 First servo motor 55 Second servo motor 57 Second angle sensor 61 Third angle sensor 70 Rotating hydraulic motor 71 ... hydraulic pump 72 ... first electromagnetic proportional control valve 73 ... second electromagnetic proportional control valve 74 ... controller 91 ... first lever 95 ... second lever REFERENCE SIGNS LIST 100 roller 102 outer rail head surface 103 third lever 108 fourth lever 113 outer rail bottom surface 120 third electromagnetic proportional control valve 121 fourth electromagnetic proportional control valve 122 fourth angle sensor 123 fifth Angle sensor 124 ... Operation switch

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tomio Kato 1-4-1 Meieki, Nakamura-ku, Nagoya, Aichi Prefecture Inside Tokai Passenger Railway Co., Ltd. 1-4-1 Tokai Passenger Railway Co., Ltd. (72) Inventor Isami Nakura 1-4-1 Meiji Station, Nakamura-ku, Nagoya-shi, Aichi Prefecture Tokai Passenger Railway Co., Ltd. (72) Inventor Masahiko Hayami Nakamura, Aichi Prefecture 1-4-1 Kuname Station Inside Tokai Passenger Railway Co., Ltd. (72) Inventor Hiroshi Goto 1-4-1 Meiji Station Nakamura-ku Nagoya City, Aichi Prefecture Inside Tokai Passenger Railway Co., Ltd.

Claims (4)

[Claims] 1. A lower body 20 capable of traveling on rails,
An upper revolving structure 24 rotatably mounted on the lower vehicle body 20,
A track work vehicle including a work arm 26 attached to the upper swing body 24 so as to be able to swing up and down, and a gripper 31 rotatably attached to the work arm 26, wherein the upper swing body 24 and the gripper 31 Are pivoted and rotated in opposite directions to each other so that the grip arm 34 of the grip device 31 is rotated.
A track working vehicle, wherein control means is provided for always keeping a constant orientation with respect to the lower vehicle body 20. 2. A swing hydraulic motor 70 for swinging the upper swing body 24, a first valve for controlling the supply of pressure oil to the swing hydraulic motor 70, and a first valve for detecting a swing angle of the upper swing body 24. Means, a rotary hydraulic motor 32 for rotating the gripping device 31, a second valve for controlling the supply of pressurized oil to the rotary hydraulic motor 32, and second means for detecting the rotation angle of the gripping device 31. An operation member 40 for switching the first valve, and a third valve for switching the second valve according to a difference between the turning angle detected by the first means and the rotation angle detected by the second means. 2. The track work vehicle according to claim 1, wherein said control means is replaced by said control means. 3. A lower body 20 capable of running on rails,
An upper revolving structure 24 rotatably mounted on the lower vehicle body 20,
A first parallel link 27 vertically attached to the upper revolving unit 24, a working arm 26 composed of a second parallel link 28 horizontally attached to the first parallel link 27, and a tip of the second parallel link 28 A track working vehicle equipped with a gripping device 31 rotatably mounted on a unit, an operating unit that rotates in the left-right direction, moves in the front-rear direction, and moves in the up-down direction, and applies a force directed forward to the operating unit. An operating member 40 including a first force applying means for applying the force, and a second force applying means for applying a force toward the rear of the operating portion, and an upper portion formed by rotating the operating portion of the operating member 40 right and left. Turning means for turning the revolving unit 24 right and left; front and rear rocking means for rocking the first parallel link 27 back and forth by moving the operation unit back and forth; and second parallel means by moving the operation unit up and down. Link 28 An up-and-down swinging unit that swings up and down; when the operation unit is rotated left and right, one of a first force application unit and a second force application unit is operated in accordance with the position of the operation unit in the front-rear direction; A means for moving the operation section in a substantially linear manner in the left-right direction is provided; and the upper revolving unit 24 and the gripping device 31 are turned and rotated in opposite directions to each other to grip the arm 34 of the gripping device 31.
A track working vehicle characterized in that it always has a fixed orientation with respect to the lower vehicle body 20. 4. A pair of left and right roller-type rail grippers for moving the roller 100 to a position separated from a position where the roller 100 contacts the outer surface of the rail head, and a rail gripper 36 provided on the lower traveling body 20; The track work vehicle according to claim 1 or 2, comprising a pair of left and right hook-type rail grippers that move to a position separated from and in contact with the rail.