Safety device of gripping type hole digging and pole erecting vehicle

Abstract

To provide a safety device of a gripping type hole digging and pole erecting vehicle capable of improving the stability and safety in traveling.SOLUTION: A safety device of a gripping type hole digging and pole erecting vehicle 1 includes: a boom storage detector 41 for detecting that a boom is stored in a vehicle body; an auger storage detector 42 for detecting that an auger device is stored in the boom; a gripping device storage detector 43 for detecting that a gripping device is stored with respect to the boom; and an interlock control unit 102 for allowing the operation of a jack device in accordance with the operation of a jack operation device 7 when a stored state of the boom is detected by the boom storage detector 41, a stored state of the auger device is detected by the auger storage detector 42, and a stored state of the gripping device is detected by the gripping device storage detector 43.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to a safety device for a gripping-type hole-digging pole-setting vehicle equipped with a gripping device for gripping an object. [Background technology]

[0002] A known pole hole digger, a type of work vehicle, is a gripping-type pole hole digger, which includes a swivel base mounted on the vehicle body for free rotation, a boom mounted on the swivel base for free extension and retraction, an auger device attached to the boom for digging a pole hole for installing a utility pole, and a gripping device attached to the tip of the boom for gripping a pole-shaped object such as a utility pole (see, for example, Patent Document 1). When using this gripping-type pole hole digger to excavate a pole hole in the ground, the auger device is suspended from the tip of the boom and the boom is operated as needed, and the auger device is rotated at a predetermined excavation position to form a pole hole of a predetermined depth. After the excavation of the pole hole is completed, the auger device is raised and stored on the side of the boom, and the utility pole is gripped by the gripping device attached to the tip of the boom. With the utility pole gripped, the boom is operated as needed to directly install the utility pole into the excavated pole hole. This type of gripping-type hole-digging pole erection vehicle allows the entire pole erection process to be carried out more efficiently than when the pole is suspended using a winch or crane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2-81892 Summary of the Invention [Problem to be solved by the invention]

[0004] When performing various tasks using such a gripping-type hole-digging and pole-setting vehicle, in order to stably support the vehicle, jacks attached to both the left and right sides of the vehicle body are extended downward to raise the tires and wheels above the ground and lift the vehicle body. After the task is completed, the jacks are retracted and the wheels are placed back on the ground, making the vehicle ready to travel. However, even if the jacks are retracted after the task is completed, if the vehicle is driven without the auger device, gripping device, or other working devices retracted, parts of the working devices may protrude from the vehicle or the vehicle's weight balance may be disrupted, resulting in a decrease in driving stability and safety.

[0005] The present invention has been made in consideration of such problems, and aims to provide a safety device for a gripping-type hole-digging pole-setting vehicle that can improve running stability and safety. [Means for solving the problem]

[0006] In order to solve the above problems, the safety device for a gripping type hole digging pole vehicle according to the present invention comprises a boom mounted on a vehicle body so as to be able to raise and lower and extend, an auger device mounted on the boom so as to be able to swing and perform excavation work, a gripping device having a gripping section capable of gripping an object and a support mechanism mounted on the tip of the boom and changing the attitude of the gripping section relative to the tip, a jack device mounted on the vehicle body so as to be able to extend and retract and lift the vehicle body, a work operation device for operating the boom, the auger device and the gripping device, a jack operation device for operating the jack device, a work control unit for controlling the operation of the boom, the auger device and the gripping device in response to operation of the work operation device, a jack control unit for controlling the operation of the jack device in response to operation of the jack operation device, a boom storage detector for detecting when the boom is stored relative to the vehicle body, and The device is equipped with an auger storage detector that detects when the boom is stored, and a gripping device storage detector that detects when the gripping device is stored on the boom, and the jack control unit allows operation of the jack device in response to operation of the jack operating device when the boom storage detector detects the stored state of the boom, the auger storage detector detects the stored state of the auger device, and the gripping device storage detector detects the stored state of the gripping device.

[0007] In the safety device for the gripping-type hole-digging pole construction vehicle configured as described above, it is preferable that the jack control unit regulates the operation of the jack device in response to the operation of the jack operating device when the boom storage detector, the auger storage detector, and the gripping device storage detector detect that any one of the boom, the auger device, and the gripping device is not in a stored state.

[0008] Furthermore, in the safety device for the gripping-type hole-digging pole construction vehicle configured as described above, the support mechanism has an arm provided at the tip of the boom that can be bent and extended in a vertical plane, a vertical swivel mechanism provided at the tip of the arm that causes the gripping portion to oscillate in the vertical plane, and a horizontal swivel mechanism provided at the tip of the arm that causes the gripping portion to oscillate in a plane perpendicular to the vertical plane, and it is preferable that the gripping device is configured to be retractable relative to the boom regardless of the horizontal swivel position of the gripping portion.

[0009] Furthermore, in the safety device for the gripping-type hole-digging pole vehicle configured as described above, the gripping portion has a pair of gripping claws that can be opened and closed for gripping the object, the support mechanism has a rotation mechanism that rotates the gripping portion around a rotation axis perpendicular to the opening and closing direction, and it is preferable that the gripping device is configured to be retractable relative to the boom regardless of the rotational position of the gripping portion. [Effects of the Invention]

[0010] According to the safety device for the gripping-type hole-digging and pole-setting vehicle of the present invention, by allowing the jacking device to operate on the condition that all of the working devices (boom, auger device, gripping device) are in the stowed state, it is possible to prevent situations in which the vehicle travels on the road with part of the working devices protruding from the vehicle or with the vehicle's weight balance disrupted, thereby improving the stability and safety of travel. In addition, it is possible to prevent situations in which the jacking device is accidentally operated to stow while each working device is in operation (during excavation work or pole-setting work), thereby improving work safety. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a gripping-type hole-digging pole-setting vehicle equipped with a safety device according to this embodiment. [Figure 2] FIG. 2 is a plan view of the above-mentioned gripping-type hole digging and pole erection vehicle. [Figure 3] FIG. 2 is a side view showing the use state of the above-mentioned grip-type hole digging pole erection vehicle. [Figure 4] FIG. 2 is a perspective view showing the deployed state of the auger device provided on the grip-type hole digging and pole erection vehicle. [Figure 5] FIG. 2 is a perspective view showing the auger device in a stored state. [Figure 6] FIG. 2 is a perspective view of a gripping device provided on the gripping-type hole-digging pole-setting vehicle. [Figure 7] FIG. 2 is a perspective view of the main part of the gripping device as seen from the right. [Figure 8] FIG. 2 is a perspective view of the main part of the gripping device as seen from the left. [Figure 9] FIG. 2 is a cross-sectional view of the gripping device. [Figure 10] FIG. 2 is a longitudinal sectional view of the gripping device. [Figure 11] FIG. 2 is a functional block diagram of the above-mentioned gripping-type hole digging pole erection vehicle. [Figure 12] 6 is a flowchart of a jack storage control process executed in the safety device. DETAILED DESCRIPTION OF THE INVENTION

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described with reference to the drawings. First, the overall configuration of a grip-type hole digging and pole erection vehicle 1 according to this embodiment will be described with reference to FIGS.

[0013] As shown in FIG. 1, the grip-type hole-digging and pole-setting vehicle 1 has a driver's cabin 3 at the front of the vehicle body 2 and is based on a truck vehicle that can travel on a pair of left and right tires and wheels 4 arranged at the front and rear of the vehicle body 2. Jacks 5 for lifting and supporting the vehicle body 2 are arranged at four locations on the front, rear, left and right of the vehicle body 2. As shown in FIG. 3 and other figures, each jack 5 has an outer post 5a arranged on the side of the vehicle body 2 and an inner post 5b stored within the outer post 5a so that it can be freely extended and retracted downward. Each jack 5 lifts and supports the vehicle body 2 by driving a jack cylinder 6 arranged inside it to extend the inner post 5b downward relative to the outer post 5a (by contacting the ground plate attached to the lower end of the inner post 5b with the ground), thereby stabilizing the entire vehicle body 2. In addition, a jack operating device 7 (see Figure 2, etc.) is arranged at the rear of the vehicle body 2, and is configured so that each jack 5 is extended (extended) and retracted (stored) in response to the operation of this jack operating device 7.

[0014] A swivel base 12 driven by a swivel motor 14 (see FIG. 11) and configured to rotate horizontally about a vertical axis is provided in the mounting area of ​​the vehicle body 2 behind the driver's cabin 3. The base end of a boom 13 is attached to the swivel base 12 so that it can swing (raise and lower) in the vertical direction. A boom receiver 8 is erected on the vehicle body 2 and abuts against the underside of the boom 13 to hold the boom 13 in a stowed state. A boom stowage detector 41, which will be described later, is attached to the upper end of the boom receiver 8.

[0015] As shown in FIG. 3, the boom 13 is configured by, from the swivel base 12 side, a base boom 13a, an intermediate boom 13b, and a tip boom 13c, all nested together. The boom 13 can be extended and retracted in the axial (longitudinal) direction by the extension and retraction of a telescopic cylinder 15 (see FIG. 11) installed inside. A derrick cylinder bracket 13d is fixed to the underside of the base boom 13a. A derrick cylinder 16 is installed between the derrick cylinder bracket 13d and the swivel base 12. By extending and retracting this derrick cylinder 16, the entire boom 13 can be raised and lowered in the vertical plane. The rod end of the derrick cylinder 16 is pivotally connected to the derrick cylinder bracket 13d, and the bottom end of the derrick cylinder 16 is pivotally connected to the swivel base 12. A gripping device storage detector 43, described below, is attached to the underside of the derrick cylinder bracket 13d.

[0016] An auger support 17 is attached to the boom 13, and can be selectively connected to the base boom 13a and the tip boom 13c. As shown in FIG. 4, an upper shaft 27a of a connecting rod member 27 is pivotally connected to the auger support 17 so as to be swingable left and right. An auger device 20 for drilling post holes is pivotally connected to a lower shaft 27b of the connecting rod member 27 so as to be swingable forward and backward. The auger device 20 includes an auger motor unit 21 pivotally connected to the lower shaft 27b of the connecting rod member 27 and an auger screw (earth auger) 25 that is rotated about its axis by operating the auger motor unit 21. The auger motor unit 21 includes an auger motor 22 that is hydraulically rotated, an auger reducer 23 connected to the output shaft of the auger motor 22, and an auger housing 24 that houses the auger motor 22 and the auger reducer 23. A drive shaft (not shown) of the auger reducer 23 protrudes from the lower end of the auger housing 24, and the upper end of the auger screw 25 is connected to this drive shaft.

[0017] An auger storage device 18 is disposed on the side of the base boom 13a, and receives the auger screw 25 to hold the auger device 20 in a stored state. The auger device 20 is attached to the support 17 via a connecting rod member 27 so as to be swingable up and down in a vertical plane, and can be swung between an expanded state (see FIG. 4) in which the auger device 20 is detached from the auger storage device 18 and the auger screw 25 hangs down toward the ground, and a stored state (see FIG. 5) in which the auger device 20 is stored by the auger storage device 18 along the side of the base boom 13a. An auger storage detector 42, which will be described later, is attached to this auger storage device 18. In the expanded state of the auger device 20, the auger screw 25 is suspended from the tip of the boom 13 around both shafts 27a, 27b of the connecting rod member 27 as fulcrums so as to be swingable in the front-to-rear and left-to-right directions, so that it assumes a vertical position in line with the direction of gravity (vertical direction) regardless of the position of the boom 13.

[0018] When the auger device 20 is in use, as shown in I of FIG. 3, the auger support 17 is connected to the distal boom 13c, and the auger device 20, detached from the auger storage device 18, is swung into the deployed state (with the auger screw 25 in a position approximately perpendicular to the ground). The auger screw 25 is rotated by the rotational drive of the auger motor 22, while the boom 13 is lowered and retracted in conjunction with each other to move linearly downward, thereby enabling the excavation of a pole hole. On the other hand, when the auger device 20 is not in use, as shown in II of FIG. 3, the auger support 17 is connected to the proximal boom 13a, and the auger storage device 18 holds the auger device 20 in a stored state alongside the side of the proximal boom 13a. When the auger device 20 is in the stored state, various operations can be performed using the gripping device 50, which will be described later, such as erecting and removing utility poles (indicated by the symbol P in FIG. 3; the same applies hereinafter) and relocating obstacles. Hereinafter, the boom 13, the auger device 20 and the gripping device 50 will also be collectively referred to as the "working device."

[0019] A boom bracket 19 is fixed to the tip of the tip boom 13c. A gripping device 50 is attached to this boom bracket 19, which grips an object (pillar-shaped object) such as a utility pole or a tree. The configuration of this gripping device 50 will be described with additional reference to Figures 6 to 10. Note that in Figures 9 and 10, hatching indicating cross sections has been omitted to make the drawings easier to see. Furthermore, for the sake of convenience, the following description will refer to the front-to-back, left-to-right, and up-to-down arrow directions shown in the drawings as the front-to-back direction, left-to-right direction, and up-to-down direction, based on the attitude of the gripping device 50 shown in Figure 6.

[0020] The gripping device 50 is configured to include an arm 51 attached to the boom bracket 19 so as to be able to swing (bend and stretch) in the vertical direction, a first joint member 60 attached to the tip of the arm 51 so as to be able to swing (pivot) in the vertical direction, a second joint member 70 attached to the first joint member 60 so as to be able to swing (pivot) in the left-right direction (pivot) and a gripper 80 rotatably attached to the second joint member 70. In this embodiment, a support mechanism that changes the posture of a gripping portion 81 of the gripper 80 is configured by the arm 51, the first joint member 60, the second joint member 70, a vertical pivot cylinder 62, a horizontal pivot cylinder 71, a gripper motor 79, etc., which will be described later.

[0021] One axial (longitudinal) end of the arm 51 is pivotally connected to the boom bracket 19 via a connecting pin 52, and the other axial (longitudinal) end is pivotally connected to a first joint member 60 via a connecting pin 53. An arm cylinder 55 is attached between the boom bracket 19 and the first joint member 60. A rod side end of the arm cylinder 55 is pivotally connected to the boom bracket 19 via a connecting pin 56. A bottom side end of the arm cylinder 55 is pivotally connected to the first joint member 60 via a connecting pin 57. By extending and retracting the arm cylinder 55, the arm 51 is configured to be able to swing (bend and extend) up and down relative to the boom bracket 19 around the connecting pin 52.

[0022] The first joint member 60 is formed in a bifurcated shape with an open tip end. A second joint member 70 is pivotally connected to both ends of the fork via a pair of upper and lower connecting pins 61. A vertical swivel cylinder 62 is provided between the first joint member 60 and the arm 51. The bottom side end of the vertical swivel cylinder 62 is pivotally connected to the base end side of the arm 51 via a connecting pin 63. The rod side end of the vertical swivel cylinder 62 is pivotally connected to the upper end side of the first joint member 60 via a connecting pin 64. By extending and contracting this vertical swivel cylinder 62, the first joint member 60 can be freely swung (vertically swivels) in the up and down direction relative to the arm 51 around the connecting pin 53.

[0023] The second joint member 70 is supported by the first joint member 60 so as to be sandwiched from above and below. A horizontally oscillating cylinder 71 is provided at the upper end of the first joint member 60. The horizontally oscillating cylinder 71 has a bottom end pivotally connected to the tip of the first joint member 60 and a rod end pivotally connected to the rear end of the second joint member 70. By extending and contracting this horizontally oscillating cylinder 71, the second joint member 70 can be freely oscillated left and right (horizontally oscillated) relative to the first joint member 60 around the connecting pin 61.

[0024] The gripper 80 comprises a gripping portion 81 for gripping an object, a gripper housing 86 (see Figures 7 to 9) that supports the gripping portion 81 and is rotatably mounted on the second joint member 70, and an opening / closing mechanism 93 that opens and closes the gripping portion 81.

[0025] The gripping unit 81 includes a pair of gripping claws 82 and a pair of upper and lower support plates 83 that support the pair of gripping claws 82 so that they can open and close in directions that move them toward or away from each other (opening and closing directions). The gripping claws 82 are configured to be able to grip various objects (pillar-shaped objects), such as utility poles and trees. The base ends of the gripping claws 82 are pivotally connected to the upper and lower support plates 83 via connecting pins 84. Alternating notches 82a and 82b are formed in the tips of the gripping claws 82, and these tips are configured to be able to intersect (overlap) with each other. The support plate 83 is provided with a flat upper bracket 85 for detachably mounting an attachment (not shown) (for example, a tree felling device for felling trees).

[0026] The gripper housing 86 includes a support cylinder portion 87 connected to the upper and lower support plate portions 83 and rotatably supported on the second joint member 70, and a cylinder bracket portion 92 fixed to the base end side of the support cylinder portion 87 and disposed between the first joint member 60 and the second joint member 70.

[0027] The support cylinder 87 has a double structure including an inner cylinder 88 formed in the shape of a hollow rectangular cylinder and an outer cylinder 89 formed in the shape of a hollow cylinder and provided on the outer periphery of the inner cylinder 88. A sliding member 95 of an opening / closing mechanism 93 (described later) is attached to the inner periphery of the inner cylinder 88 so as to be slidable in the front-rear direction. A worm wheel 90 is attached to the outer periphery of the outer cylinder 89 concentrically with the outer cylinder 89. The worm wheel 90 is engaged with a worm pinion 91 rotatably supported inside the second joint member 70. A gripper motor 79 is attached to the upper end of the second joint member 70, and the worm pinion 91 is connected to the output shaft of the gripper motor 79 via a reducer. When the gripper motor 79 is rotated in the forward direction, the entire gripper 80 rotates in a predetermined direction around the rotation axis X (see FIG. 9 ) via the worm pinion 91 and the worm wheel 90. On the other hand, when the gripper motor 79 is rotated in the reverse direction, the entire gripper 80 rotates in the opposite direction to the predetermined direction around the rotation axis X (see FIG. 9) via the worm pinion 91 and the worm wheel 90. In the posture of the gripping device 50 shown in FIG. 6, the direction of the rotation axis X of the gripper 80 (gripping portion 81) corresponds to the front-rear direction, and the opening / closing direction (gripping direction) of the gripping portion 81 corresponds to the left-right direction.

[0028] The opening / closing mechanism 93 includes a pair of link members 94, a sliding member 95 linked and connected to the pair of link members 94, and a gripper cylinder 99 that slides the sliding member 95 back and forth. One end of each link member 94 is pivotally connected to an intermediate portion of the gripping jaw 81 via a connecting pin 96. The pair of link members 94 are pivotally connected to the tip end of the sliding member 95 via a connecting pin 97 with the other end of each link member 94 stacked vertically. The sliding member 95 is inserted into the hollow portion of the inner cylindrical portion 88 and is attached so as to be slidable (reciprocating) along the inner circumferential surface of the inner cylindrical portion 88. A slider 98 made of synthetic resin is attached between the outer circumferential surface of the sliding member 95 and the inner circumferential surface of the inner cylindrical portion 88 to guide the sliding (reciprocating movement) of the sliding member 95. The rod side end of the gripper cylinder 99 is connected to the base end of the sliding member 95. The bottom end of the gripper cylinder 99 is connected to a cylinder bracket portion 92 of the gripper housing 86. When the gripper cylinder 99 is extended, the sliding member 95 slides in the extension direction, causing the link members 94 to swing away from each other. As a result, the gripping claws 82 swing in the opening direction around the connecting pin 84 as a fulcrum (the gripping claws 82 operate in the opening direction (opening operation)), thereby releasing the grip of the object. On the other hand, when the gripper cylinder 99 is retracted, the sliding member 95 slides in the retraction direction, causing the link members 94 to swing toward each other. As a result, the gripping claws 82 swing in the closing direction around the connecting pin 84 as a fulcrum (the gripping claws 82 operate in the closing direction (closing operation)), thereby gripping the object. Note that the opening / closing mechanism 93 is configured symmetrically, so the pair of gripping claws 82 open and close symmetrically.

[0029] An operator seat 30 for operating the various work devices (boom 13, auger device 20, gripping device 50) is provided on the side of the swivel base 12 of the vehicle body 2. A work operation device 31 is provided in front of the operator seat 30 and can be operated by an operator while seated. Although not shown, the work operation device 31 includes a boom rotation / hoisting operation lever for rotating and raising / lowering the boom 13, a boom extension / retraction operation lever for extending / retracting the boom 13 and bending / extending the arm 51, an auger operation lever for rotating the auger screw 25, a gripper vertical swing operation lever for swinging the gripper 81 vertically, a gripper horizontal swing operation lever for swinging the gripper 81 horizontally, a gripper rotation operation lever for rotating the gripper 81, and a gripper opening / closing operation lever for opening and closing the gripper 81.

[0030] Here, as shown in FIG. 11, the operating mechanisms for the boom 13, auger device 20, gripping device 50, jack 5, etc. are configured with a controller 100 that receives operation signals from the work operation device 31 and the jack operation device 7 and controls the swing motor 14, telescopic cylinder 15, hoisting cylinder 16, auger motor 22, arm cylinder 55, vertical swing cylinder 62, horizontal swing cylinder 71, gripper motor 79, gripper cylinder 99, and jack cylinder 6 (hereinafter collectively referred to as "hydraulic actuators"), and a hydraulic unit 110 that supplies hydraulic oil to drive these hydraulic actuators.

[0031] Operation signals output by operating the work operation device 31 and the jack operation device 7 are input to the controller 100. The controller 100 outputs a command signal corresponding to the operation signal to the hydraulic unit 110 (control valve 112).

[0032] The hydraulic unit 110 is configured to have a hydraulic pump 111 that discharges hydraulic oil, and a control valve 112 that controls the supply direction and amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator. The hydraulic pump 111 is driven by power extracted from the vehicle engine via a PTO mechanism (not shown). The control valve 112 has an electromagnetic proportional control valve V1 corresponding to the swing motor 14, an electromagnetic proportional control valve V2 corresponding to the telescopic cylinder 15, an electromagnetic proportional control valve V3 corresponding to the hoisting cylinder 16, an electromagnetic proportional control valve V4 corresponding to the auger motor 22, and a control valve V5 corresponding to the auger motor 23. The control valve 112 includes a proportional control valve V4, an electromagnetic proportional control valve V5 corresponding to the arm cylinder 55, an electromagnetic proportional control valve V6 corresponding to the vertical swing cylinder 62, an electromagnetic proportional control valve V7 corresponding to the horizontal swing cylinder 71, an electromagnetic proportional control valve V8 corresponding to the gripper motor 79, an electromagnetic proportional control valve V9 corresponding to the gripper cylinder 99, and an electromagnetic proportional control valve V10 corresponding to the jack cylinder 6. Based on a command signal from the controller 100, this control valve 112 electromagnetically drives the spools of the electromagnetic proportional control valves V1 to V10 to control the supply direction and amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator, and controls the operating direction and operating speed of each hydraulic actuator (controlling the operating direction and operating speed of the boom 13, auger device 20, gripping device 50, and jack 5).

[0033] Next, a safety device provided in the gripping-type hole digging and pole erection vehicle 1 of this embodiment will be described. As shown in Fig. 11, the safety device of this embodiment is configured with a boom storage detector 41 that detects the storage state of the boom 13, an auger storage detector 42 that indicates the storage state of the auger device 20, a gripping device storage detector 43 that detects the storage state of the gripping device 50, and a controller 100 electrically connected to these detectors 41 to 43. Note that Figs. 1 and 2 show an example when all of the working devices (boom 13, auger device 20, gripping device 50) are in the stored state.

[0034] The boom stowing detector 41 detects whether the boom 13 (boom bracket 19) is placed on the boom receiver 8 and is stored. This boom stowing detector 41 is composed of a limit switch that is provided at the upper end of the boom receiver 8 and is capable of outputting an ON / OFF signal. When the boom 13 is stored in the boom receiver 8, the boom stowing detector 41 is turned on by being pressed against the underside of the boom 13 (boom bracket 19), and outputs an ON signal (boom stowing detection signal) indicating that the boom 13 is in the stowing state to the controller 100. On the other hand, when the boom 13 is not stored in the boom receiver 8, the boom stowing detector 41 is released from the pressure against the underside of the boom 13 (boom bracket 19), and the switch is turned off, and outputs an OFF signal (boom non-stowing detection signal) indicating that the boom 13 is in the non-stowing state to the controller 100.

[0035] Here, to store the boom 13 in the boom receiver 8, the boom 13 is retracted to a fully retracted state and then rotated to be positioned directly above the boom receiver 8, and then the boom 13 is lowered to place the boom 13 (boom bracket 19) on the boom receiver 8. As a result, the boom storage detector 41 detects that the boom 13 (boom bracket 19) has been stored in the boom receiver 8, and outputs an ON signal (boom storage detection signal) to the controller 100. Note that this storage operation of the boom 13 is performed in a state in which the auger device 20 and the gripping device 50 are stored in the boom 13.

[0036] Auger storage detector 42 detects whether or not auger device 20 is stored in auger storage device 18. This auger storage detector 42 is composed of a proximity switch that is provided in auger storage device 18 and is capable of outputting an on / off signal. When auger device 20 is stored in auger storage device 18, auger storage detector 42 is switched on by coming close to the shaft portion of auger screw 25, and outputs an on signal (auger storage detection signal) indicating that auger device 20 is in a stored state to controller 100. On the other hand, when auger device 20 is not stored in auger storage device 18, auger storage detector 42 is switched off by moving away from the shaft portion of auger screw 25, and outputs an off signal (auger non-stored detection signal) indicating that auger device 20 is not stored to controller 100.

[0037] Here, to store the auger device 20 in the auger storage device 18, the boom 13 is contracted to a fully contracted state, and then a storage rope (not shown) is connected between the auger device 20 and the auger storage device 18. When the auger screw 25 is driven to rotate by the auger motor 22, the shaft of the auger screw 25 rotates while winding up the storage rope, causing the auger device 20 to swing upward (to a position roughly parallel to the side of the base-end boom 13a) and be stored and held in the auger storage device 18. As a result, the auger storage detector 42 detects that the auger device 20 has been stored in the auger storage device 18, and outputs an ON signal (auger storage detection signal) to the controller 100.

[0038] The gripping device storage detector 43 detects whether the gripping device 50 is stored on the underside of the boom 13. This gripping device storage detector 43 is composed of a proximity switch that is provided on the derricking cylinder bracket 13d of the base boom end 13a and is capable of outputting an on / off signal. When the gripping device 50 is stored on the underside of the boom 13, the gripping device storage detector 43 is switched on by approaching the tip end of the arm 51 (first joint member 60), and outputs an on signal (gripping device storage detection signal) indicating that the gripping device 50 is in the stored state to the controller 100. On the other hand, when the gripping device 50 is not stored on the underside of the boom 13, the gripping device storage detector 43 is switched off by moving away from the tip end of the arm 51 (first joint member 60), and outputs an off signal (gripping device non-stored detection signal) indicating that the gripping device 50 is in the non-stored state to the controller 100.

[0039] Here, to store the gripping device 50 on the underside of the boom 13, the arm cylinder 55 and the vertical swing cylinder 62 are extended and retracted to move the entire gripping device 50 to a position along the underside of the boom 13 (a position where the axis of the boom 13 and the axis of the arm 51 are approximately parallel within the hoisting surface of the boom 13). As a result, the gripping device storage detector 43 detects that the gripping device 50 has been stored on the underside of the boom 13, and outputs an ON signal (gripping device storage detection signal) to the controller 100. In this embodiment, a space for disposing the gripping device 50 is secured in the area below the boom 13 on the vehicle body 2, and regardless of the horizontal swing position or rotation position of the gripping section 81, the gripping device 50 can be stored below the boom 13 without interfering with other structures on the vehicle body (such as the swivel base 12 or the hoisting cylinder 16) by performing the bending and extending operation of the arm 51 and the vertical swing operation of the gripping section 81, regardless of the horizontal swing position or rotation position of the gripping section 81 (the first joint member 60 can be moved to a position detectable by the gripping device storage detector 43). Therefore, Fig. 1 shows an example of the stored state of the gripping device 50, and the gripping device 50 can also be stored in a state where the gripping section 81 swings left and right and / or rotates about the rotation axis X from the state shown in Fig. 1.

[0040] The controller 100 includes an operation control unit 101 and an interlock control unit 102 .

[0041] The operation control unit 101 controls the operation of each work device (boom 13, auger device 20, gripping device 50), jack 5, etc. by electromagnetically driving control valves 110 (electromagnetic proportional control valves V1 to V10) to operate each hydraulic actuator based on operation signals from the work operation device 31 and the jack operation device 7.

[0042] The interlock control unit 102 allows the operation (extension and retraction operation) of the jack 5 in response to the operation of the jack operating device 7 when it simultaneously receives an ON signal (boom retraction detection signal) from the boom retraction detector 41 indicating that the boom 13 is in the retracted state, an ON signal (auger retraction detection signal) from the auger retraction detector 42 indicating that the auger device 20 is in the retracted state, and an ON signal (gripping device retraction detection signal) from the gripping device retraction detector 43 indicating that the gripping device 50 is in the retracted state. On the other hand, the interlock control unit 102 simultaneously receives an OFF signal (boom non-retraction detection signal) from the boom retraction detector 41 indicating that the boom 13 is in the non-retracted state, and an OFF signal (auger non-retraction detection signal) from the auger retraction detector 42 indicating that the auger device 20 is in the non-retracted state. When either an ON signal (OUT signal) indicating that the gripping device 50 is in a non-storage state is input from the gripping device storage detector 43 or an OFF signal (GRIP DEVICE NON-STORAGE DETECTION signal) indicating that the gripping device 50 is in a non-storage state, the interlock control unit 102 outputs an operation restriction signal to the operation control unit 101 to restrict the operation (extension and retraction operation) of the jack 5 regardless of the operation of the jack operating device 7. In other words, the interlock control unit 102 allows the operation of the jack 5 when all of the working devices (boom 13, auger device 20, gripping device 50) are in a stored state, and controls to restrict the operation of the jack 5 when any one of the working devices (boom 13, auger device 20, gripping device 50) is not in a stored state.

[0043] The interlock control unit 102 regulates the operation of the jack 5 by imposing operational restrictions on the operation control unit 101, such as by preventing the operation control unit 101 from accepting an operation signal even when the jack is operated, or by preventing the operation control unit 101 from electromagnetically driving the electromagnetic proportional control valve V10 corresponding to the jack cylinder 6 even when it accepts an operation signal based on the jack operation.

[0044] Next, the procedure for the storage control process (interlock process) of the jacks 5 executed in the safety device of this embodiment will be described. Fig. 12 is a flowchart of the storage control process of the jacks 5 of this embodiment. The storage control process of the jacks 5 is executed when, at the end of work or the like, the jack operating device 7 is operated to retract the jacks 5 from a state in which the vehicle is lifted and supported by the jacks 5 and stored in the vehicle body 2.

[0045] First, the interlock control unit 102 determines whether a storage operation of the jack 5 (an operation to retract the jack 5) has been performed based on an operation signal output from the jack operating device 7 (step S101). If the interlock control unit 102 determines that a storage operation of the jack 5 has been performed (step S101: YES), the interlock control unit 102 determines whether the boom 13 is in a stored state based on a detection signal output from the boom storage detector 41 (step S102). If the interlock control unit 102 determines that the boom 13 is in a stored state (step S102: YES), the interlock control unit 102 determines whether the auger device 20 is in a stored state based on a detection signal output from the auger storage detector 42 (step S103). If the interlock control unit 102 determines that the auger device 20 is in a stored state (step S103: YES), the interlock control unit 102 determines whether the gripping device 50 is in a stored state based on a detection signal output from the gripping device storage detector 43 (step S104). When the interlock control unit 102 determines that the gripping device 50 is in the stored state (step S104: YES), that is, when it determines that all of the working devices (the boom 13, the auger device 20, and the gripping device 50) are in the stored state, it allows the retraction operation of the jack 5 in accordance with the operation of the jack operating device 7 (step S105). As a result, the operation control unit 101 causes the jack 5 to retract in accordance with the operation of the jack operating device 7. On the other hand, when the interlock control unit 102 determines that the boom 13 is in the non-stored state (step S102: NO), when it determines that the auger device 20 is in the non-stored state (step S103: NO), or when it determines that the gripping device 50 is in the non-stored state (step S104: NO), it outputs an operation restriction signal to the operation control unit 101 to restrict the retraction operation of the jack 5 (step S106). As a result, even if the jack operating device 7 performs a storage operation of the jack 5 (an operation to retract the jack 5), the retraction operation of the jack 5 will be restricted until all of the working devices (boom 13, auger device 20, gripping device 50) are in the stored state.

[0046] As described above, the safety device of this embodiment allows the jack 5 to be operated on the condition that all of the working devices (boom, auger device, gripping device) are in the stored state, thereby preventing a situation in which the vehicle travels on the road with part of the working devices protruding from the vehicle or with the vehicle's weight balance disrupted, thereby improving the stability and safety of travel. Also, the safety device of this embodiment prevents accidents during the operation of each working device (during excavation work, pole erection work), Since it is possible to prevent the jack 5 from being stored, it is also possible to improve the safety of the work.

[0047] Furthermore, the safety device of this embodiment effectively utilizes the dead space defined in the area below the boom 13, and by arranging the gripping device 50 in a stored state in this dead space, it is possible to ensure sufficient space for arranging the gripping device 50 without being subject to layout restrictions in relation to other mounted objects.

[0048] Furthermore, with the safety device of this embodiment, the gripping device 50 can be stored below the boom 13 regardless of the horizontal swing position of the gripping portion 81, which makes it easier to store the gripping device 50 and makes it possible to improve work efficiency.

[0049] Furthermore, with the safety device of this embodiment, the gripping device 50 can be stored below the boom regardless of the rotational position of the gripping portion 81, making the storage operation of the gripping device 50 even easier and making work even more efficient.

[0050] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present invention.

[0051] In the above embodiment, the gripping device storage detector 43 is provided on the underside of the derricking cylinder bracket 13d. However, this configuration is not limited thereto. For example, the gripping device storage detector 43 may be provided directly on the underside of the boom 13. Alternatively, a sensor bracket may be provided on the underside of the boom 13, and the gripping device storage detector 43 may be provided on this sensor bracket. In the above embodiment, the gripping device storage detector 43 detects the first joint member 60 as the storage state of the gripping device 50. However, this configuration is not limited thereto. For example, the gripping device storage detector 43 may be configured to detect the arm 51, the second joint member 70, the gripper 81, or the like as the storage state of the gripping device 50. Alternatively, the gripping device storage detector 43 may be provided on the boom bracket 19 or the arm 51 to detect when the arm 51 is folded and stored relative to the boom bracket 19. The gripping device storage detector 43 is not limited to a proximity switch and may be another detector, such as a limit switch.

[0052] In the above embodiment, the gripping device 50 is stored below the boom 13, so that the gripping device 50 in the stored state and the boom 13 in the stored state are configured to be vertically overlapping, but this configuration is not limited to this. For example, the gripping device 50 may be stored on the right side of the boom 13 (one side in the width direction of the boom 13) and the auger device 20 may be stored on the left side of the boom 13 (the other side in the width direction of the boom 13) so that the gripping device 50 in the stored state and the auger device 20 in the stored state are configured to be overlapping in the left-right direction (width direction of the boom 13) with the boom 13 in between. According to this modified example, the weight balance of the entire working device (weight balance in the vehicle width direction) is equalized, making it possible to further improve the traveling stability of the vehicle.

[0053] In the above embodiment, the work operating device 31 or the jack operating device 7 may be provided with an alarm means (e.g., an LED lamp or a buzzer) for notifying whether each work device (boom 13, auger device 20, gripping device 50) is in a stored state or not, thereby urging the worker to perform the storage operation for each work device (boom 13, auger device 20, gripping device 50).

[0054] In the above embodiment, the operating device 31 is provided on the operating seat 30 on the vehicle body 2, but this configuration is not limited to this, and for example, the operating device 31 may be configured as a wired or wireless remote control operating device (portable operating device).

[0055] In addition, in the above embodiment, a PTO-driven hole-digging pole-setting vehicle was exemplified, in which engine power is extracted by a PTO mechanism (power take-off mechanism) to drive a hydraulic pump, but this configuration is not limited to this, and the hole-digging pole-setting vehicle may be an electrically driven (battery-driven) hole-digging pole-setting vehicle, or a hybrid hole-digging pole-setting vehicle that has both an electrically driven and a battery-driven type and can selectively switch between power sources. [Explanation of symbols]

[0056] 1 Gripping type hole digging pole erecting vehicle 2. Body 5 Jack (jack device) 7 Jack operating device 8 Boom support 12 Swivel table 13. Boom 18 Auger storage device 20 Auger device 25 Earth Ogre 31 Work operation device 41 Boom storage detector 42 Auger storage detector 43 Grip storage detector 50 Gripping device 51 Arm 55 Arm cylinder 60 First joint member 62 Vertical Swing Cylinder 70 Second joint member 71 Horizontally Swinging Cylinder 79 Gripper motor 80 Gripper 81 Gripping part 99 Gripper cylinder 100 Controllers 101 Operation control unit 102 Interlock control section

Claims

1. a boom provided on the vehicle body so as to be capable of raising and lowering and extending; an auger device that is swingably attached to the boom and performs excavation work; a gripping device having a gripping section capable of gripping an object, and a support mechanism provided at a tip of the boom to change the attitude of the gripping section relative to the tip; a jack device provided on the vehicle body so as to be extendable and contractible, and configured to lift and support the vehicle body; a work operation device for operating the boom, the auger device, and the gripping device; a jack operating device that operates the jack device; a work control unit that controls the operation of the boom, the auger device, and the gripping device in response to operation of the work operating device; a jack control unit that controls the operation of the jack device in response to operation of the jack operating device; a boom retraction detector that detects when the boom is retracted relative to the vehicle body; an auger retraction detector for detecting when the auger assembly is retracted relative to the boom; a gripper retraction detector for detecting when the gripper is retracted relative to the boom; A safety device for a gripping-type hole-digging and pole-setting vehicle, characterized in that the jack control unit allows operation of the jack device in accordance with operation of the jack operating device when the stored state of the boom is detected by the boom storage detector, the stored state of the auger device is detected by the auger storage detector, and the stored state of the gripping device is detected by the gripping device storage detector.

2. A safety device for a gripping-type hole-digging and pole-setting vehicle as described in claim 1, characterized in that the jack control unit regulates the operation of the jack device in response to operation of the jack operating device when the boom storage detector, the auger storage detector, and the gripping device storage detector detect that any one of the boom, the auger device, and the gripping device is not in a stored state.

3. The support mechanism includes an arm provided at the tip of the boom and capable of bending and extending in a vertical plane, a vertical swing mechanism provided at the tip of the arm for swinging the gripping part in the vertical plane, and a horizontal swing mechanism provided at the tip of the arm for swinging the gripping part in a plane perpendicular to the vertical plane, A safety device for a gripping-type hole-digging and pole-setting vehicle as described in claim 1 or 2, characterized in that the gripping device is configured to be retractable relative to the boom regardless of the lateral swing position of the gripping section.

4. the gripping portion has a pair of gripping claws that can be opened and closed to grip an object, the support mechanism has a rotation mechanism that rotates the grip portion around a rotation axis perpendicular to the opening and closing direction, 4. A safety device for a gripping-type pole digging vehicle according to claim 3, wherein the gripping device is configured to be retractable relative to the boom regardless of the rotational position of the gripping portion.

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