Control device for grip-type digging and pole-erecting vehicle

Abstract

To provide a control device for a grip-type digging and pole-erecting vehicle that can improve operability during interlocking operation.SOLUTION: When a mode selection switch 33 is selected to a linked mode, in response to an operation of a boom rotation / levitation operation lever 32a and / or a boom telescoping / bending / extending operation lever 32b, while maintaining the ground angle of a utility pole P held by a gripping part 81, a control device of a grip-type digging and pole-erecting vehicle 1 controls the operation of a boom 13 and a support mechanism so that the gripping part 81 moves linearly in the axial direction of the utility pole P and in a direction orthogonal to the axial direction.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a control device for a gripping type pole hole digging vehicle having a gripping portion for gripping a pole-shaped object such as a utility pole. [Background technology]

[0002] As a type of work vehicle, a pole hole digger vehicle is known that includes a rotating platform provided on the vehicle body so as to be freely rotatable, a boom provided on the rotating platform so as to be freely raised and lowered, an auger device attached to the boom for digging a pole hole for erecting a utility pole, and a gripping device provided at the tip of the boom for gripping a pole-shaped object such as a utility pole (see, for example, Patent Document 1). When digging a pole hole in the ground using this gripping type pole hole digger vehicle, the boom is appropriately operated with the auger device suspended from the tip of the boom, and the auger device is rotated at a predetermined digging 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 pole is gripped by a gripping part provided on the gripping device that can be opened and closed freely, and with the pole gripped, the boom is operated appropriately and the gripping part is bent, extended, swiveled, and rotated to align the pole in the excavated pole hole and directly erect it. This type of gripping-type pole hole digger vehicle allows the entire pole erection work to be carried out more efficiently than when the pole is hoisted using a winch or crane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 5-27190 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in actual work such as the pole erection work mentioned above, if it is desired to move the utility pole in a desired direction while maintaining the posture of the pole held by the gripper, it is necessary to appropriately combine and link the various operations of the boom (raising, lowering, rotating) with the various operations of the gripper (bending, lowering, swiveling, rotating). However, it is technically difficult for an operator to perform multiple operations simultaneously, and requires proficiency. Therefore, when such linked operations are required, there are problems in that work efficiency decreases, operational errors increase, and safety is reduced.

[0005] The present invention has been made in consideration of such problems, and aims to provide a control device for a grip-type pole-digging vehicle that can improve operability during linked operation. [Means for solving the problem]

[0006] In order to solve the above problems, the control device of the gripping type pole digging vehicle of the present invention comprises a vehicle body capable of traveling, a boom mounted on the vehicle body so as to be able to rise and fall, extend and retract, and rotate freely, a gripping section mounted on the tip of the boom for gripping a pole-shaped object, a support mechanism mounted between the tip of the boom and the gripping section for changing the position and attitude of the gripping section relative to the tip of the boom, an operation device for operating the boom and the support mechanism, and an operation control section for operating the boom and the support mechanism in response to operation of the operation device, the operation device having a gripping section operation section that is operated to move the gripping section in the axial direction of the pole held by the gripping section and in a direction perpendicular to the axial direction, and the operation control section controls the gripping section to move in the axial direction of the pole held by the gripping section and in a direction perpendicular to the axial direction while maintaining the angle of the pole held by the gripping section with respect to the ground in response to operation of the gripping section operation section. The present invention is characterized in that the operation of the boom and the support mechanism is controlled.

[0007] In the control device of the grip-type pole hole digging vehicle configured as described above, it is preferable that the operation control unit moves the gripping part in the axial direction of the pole-shaped object, a first orthogonal direction perpendicular to the axial direction, and a second orthogonal direction perpendicular to the axial direction and the first orthogonal direction in response to operation of the gripping part operating unit.

[0008] In addition, in the control device of the gripping-type pole hole digging vehicle configured as described above, it is preferable that the gripping section has an openable / closable gripping claw and is configured to be rotatable around a predetermined rotation axis, and that the first orthogonal direction is set in the opening / closing direction of the gripping claw, and the second orthogonal direction is set in the direction of the rotation axis. Effect of the Invention

[0009] According to the control device of the grip-type pole-digging vehicle of the present invention, the pole-shaped object held by the gripper can be moved in the axial direction of the pole and in a direction perpendicular to the axial direction while maintaining the ground angle in accordance with the operation of the gripper operating part, and the worker can intuitively move the pole in the direction he or she wants regardless of the position or posture of the gripper (because the worker can perform operations that match his or her senses), thereby improving operability during linked operation of the boom and support mechanism and increasing work efficiency for pole-setting and relocation work, and also making it possible to prevent erroneous operation in unintended directions and improve work safety. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a side view of the gripping-type pole hole digging vehicle according to the present embodiment. [Diagram 2] FIG. 2 is a plan view of the above-mentioned gripping-type pole hole digging vehicle. [Diagram 3] FIG. 2 is a side view showing the use state of the above-mentioned grip-type hole digging pole construction vehicle. [Figure 4] This is an oblique view of a gripping device provided on the above-mentioned gripping-type hole digging pole construction vehicle. [Diagram 5] FIG. 2 is a perspective view of a main part of the gripping device as viewed from the right. [Figure 6] FIG. 2 is a perspective view of a main part of the gripping device as viewed from the left. [Figure 7] FIG. 2 is a cross-sectional view of the gripping device. [Figure 8] FIG. 2 is a vertical cross-sectional view of the gripping device. [Figure 9] FIG. 2 is a functional block diagram of the above-mentioned gripping-type pole hole digging vehicle. [Figure 10] 10 is a schematic diagram for explaining the movement direction of the gripping portion of the gripping device in a linked mode when the gripping portion grips a utility pole in a horizontal position. FIG. [Figure 11] 10 is a schematic diagram for explaining the movement direction of the gripping portion of the gripping device in a linked mode when the gripping portion grips a utility pole in a vertical position. FIG. [Figure 12] 13 is a schematic diagram for explaining the operation when the gripping portion gripping a utility pole in a horizontal position is moved in the -Y direction. FIG. [Figure 13] 13 is a schematic diagram for explaining the operation when the gripping portion gripping a utility pole in a horizontal position is moved in the +Z direction. FIG. [Figure 14] 13 is a schematic diagram for explaining the operation when the gripping portion gripping a utility pole in a vertical position is moved in the +Z direction. FIG. [Figure 15] 13 is a schematic diagram for explaining the operation when the gripping portion gripping a utility pole in a vertical position is moved in the +Y direction. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the overall configuration of a grip-type pole-digging vehicle 1 according to this embodiment will be described with reference to Figs.

[0012] As shown in FIG. 1, the grip-type hole digging vehicle 1 has a driver's cabin 7 at the front of a vehicle body 2 and is based on a truck vehicle that can run on a pair of left and right tires and wheels 5 arranged at the front and rear of the vehicle body 2. Jacks 9 for lifting and supporting the vehicle body 2 are provided at four locations on the front, rear, left and right sides of the vehicle body 2. Each jack 9 lifts and supports the vehicle body 2 by driving a jack cylinder (not shown) provided therein and extending it downward, thereby stabilizing the entire vehicle body 2. The jacks 9 are operated by operating a jack operating device (not shown) provided at the rear of the vehicle body 2.

[0013] A swivel base 12 that is driven by a swivel motor 14 (see FIG. 9) and configured to be horizontally rotatable about a vertical axis is provided in a mounting area behind the driver's cabin 7 in the vehicle body 2. The base end of a boom 13 is attached to the swivel base 12 so as to be vertically swingable (raised and lowered).

[0014] The boom 13 has a configuration in which, from the swivel base 12 side, a base end boom 13a, an intermediate boom 13b, and a tip end boom 13c are nested together, and the boom 13 can be extended and retracted in the axial direction (longitudinal direction) by driving a telescopic cylinder 15 (see FIG. 9) provided inside the boom 13 to extend and retract. A hoisting cylinder 16 is provided between the base end boom 13a and the swivel base 12, and by driving the hoisting cylinder 16 to extend and retract, the entire boom 13 can be raised and lowered in the upper and lower planes (vertical planes).

[0015] An auger device 20 for excavating a post hole is attached to the boom 13 via an auger support 17 that can be selectively connected to the base boom 13a and the tip boom 13c. The auger device 20 is configured to have an auger motor 21 with a reducer and an earth auger 22 that is rotated about an axis by driving the auger motor 21 to rotate. In addition, an auger storage device 18 that holds the auger device 20 in a stored state is disposed on the side of the base boom 13a. The auger device 20 is attached to the auger support 17 so as to be swingable up and down within a vertical plane, and can be swung between a storage position in which the auger device 20 is stored along the side of the base boom 13a by the auger storage device 18, and a working position in which the auger device 20 is removed from the auger storage device 18 and the earth auger 22 is in a substantially vertical position relative to the ground.

[0016] When the auger device 20 is used, as shown in I of Fig. 3, the auger support 17 is connected to the tip boom 13c, and the auger device 20, detached from the auger storage device 18, is swung to the working position (the earth auger 22 is in a substantially vertical position relative to the ground), and the earth auger 22 is rotated while the boom 13 is moved downward linearly in conjunction with the lowering and retracting operations, thereby enabling excavation work for a pole hole. On the other hand, when the auger device 20 is not used, as shown in II of Fig. 3, the auger support 17 is connected to the base boom 13a, and the auger device 20 is stored and held in a storage position along the side of the base boom 13a by the auger storage device 18. When the auger device 20 is in the storage position, various work such as pole erection work (indicated by the symbol P in Fig. 3: the same applies below) and obstacle relocation work can be performed using the gripping device 50 described later.

[0017] A boom head 19 is fixed to the tip of the tip boom 13c. A gripping device 50 for gripping an object (pillar-shaped object) such as a utility pole P or a tree is attached to this boom head 19. The configuration of this gripping device 50 will be described with additional reference to Figs. 4 to 8. In Figs. 7 to 8, hatching showing cross sections is omitted to make the drawings easier to see. For ease of explanation, the directions of the illustrated front-rear, left-right, and up-down arrows will be referred to as the front-rear direction, left-right direction, and up-down direction, based on the attitude of the gripping device 50 shown in Fig. 4.

[0018] The gripping device 50 includes an arm 51 attached to the boom head 19 so as to be able to swing up and down (flex and extend), a first joint member 60 attached to the tip of the arm 51 so as to be able to swing up and down (vertical swing), and a second joint member 60 attached to the first joint member 60 so as to be able to swing left and right (horizontal swing). The arm 51 includes a second joint member 70 attached so as to be capable of rotating (moving) and a gripper 80 attached so as to be rotatable to the second joint member 70. In this embodiment, a support mechanism for changing the posture of a holding portion 81 of the gripper 80 is configured by the arm 51, the first joint member 60, the second joint member 70, an arm cylinder 55 described below, a vertical swing cylinder 62, a horizontal swing cylinder 71, a gripper motor 79, etc.

[0019] One axial (longitudinal) end of the arm 51 is pivotally connected to the boom head 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 head 19 and the first joint member 60. A rod side end of the arm cylinder 55 is pivotally connected to the boom head 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 driving the arm cylinder 55 to extend and retract, the arm 51 is configured to be able to swing (bend and extend) in the vertical direction around the connecting pin 52 relative to the boom head 19.

[0020] The first joint member 60 is formed in a bifurcated shape with an open tip, and the second joint member 70 is pivotally connected to both ends of the bifurcated shape 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 driving the vertical swivel cylinder 62 to extend and retract, the first joint member 60 is configured to be able to swing freely in the vertical direction (vertical swivel operable) around the connecting pin 53 relative to the arm 51.

[0021] The second joint member 70 is supported so as to be sandwiched from above and below by the first joint member 60. A horizontal swivel cylinder 71 is provided at the upper end of the first joint member 60. The bottom side end of the horizontal swivel cylinder 71 is pivotally connected to the tip end of the first joint member 60, and the rod side end is pivotally connected to the rear end of the second joint member 70. By driving the horizontal swivel cylinder 71 to extend and retract, the second joint member 70 is configured to be freely swingable (horizontally swivelable) in the left-right direction relative to the first joint member 60, centered on the connecting pin 61.

[0022] The gripper 80 includes a gripping portion 81 that grips an object, a gripper housing 86 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.

[0023] The gripping portion 81 includes a pair of gripping claws 82 and a pair of upper and lower support plate portions 83 that support the pair of gripping claws 82 so as to be openable and closable in a direction (opening / closing direction) in which the pair of gripping claws 82 approach or move away from each other. The gripping claws 82 are configured to be able to grip various objects (pillar-shaped objects) such as utility poles P and trees. The base ends of the gripping claws 82 are pivotally connected to the upper and lower support plate portions 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 cross (overlap) each other. The support plate portion 83 is provided with a flat upper bracket 85 for detachably mounting an attachment (not shown) (for example, a tree-cutting device for cutting down trees).

[0024] The gripper housing 86 includes a support tube portion 87 connected to the upper and lower support plate portions 83 and supported rotatably on the second joint member 70, and a cylinder bracket portion 92 fixed to the base end side of the support tube portion 87 and disposed between the first joint member 60 and the second joint member 70.

[0025] The support cylinder 87 has a double structure including an inner cylinder 88 formed in a hollow rectangular cylinder shape and an outer cylinder 89 formed in a hollow cylindrical shape 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 so as to be concentric with the outer cylinder 89. The worm wheel 90 is engaged with a worm pinion 91 supported rotatably 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 J (see FIG. 7) via the worm pinion 91 and the worm wheel 90. On the other hand, when the gripper motor 79 is driven to rotate in the reverse direction, the entire gripper 80 rotates in the opposite direction to the predetermined direction around the rotation axis J (see FIG. 7) via the worm pinion 91 and the worm wheel 90. In the posture of the gripping device 50 shown in FIG. 4, the direction of the rotation axis J 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.

[0026] 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 the middle part of the gripping claw 81 via a connecting pin 96. The pair of link members 94 are pivotally connected to the tip of the sliding member 95 via a connecting pin 97 with the other ends of the link members 94 overlapping each other vertically. The sliding member 95 is inserted into the hollow part of the inner cylindrical part 88 and is attached so as to be slidable (reciprocating) along the inner circumferential surface of the inner cylindrical part 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 part 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 the cylinder bracket portion 92 of the gripper housing 86. When the gripper cylinder 99 is driven to extend, the sliding member 95 slides in the extension direction, and the link members 94 swing in a direction away from each other. As a result, the gripping claws 82 swing in the opening direction with the connecting pin 84 as a fulcrum (the gripping claws 82 operate in the opening direction (opening operation)), and the grip of the pole-shaped object (target object) such as the utility pole P can be released. On the other hand, when the gripper cylinder 99 is driven to contract, the sliding member 95 slides in the contracting direction, and the link members 94 swing in a direction approaching each other. As a result, the gripping claws 82 swing in the closing direction with the connecting pin 84 as a fulcrum (the gripping claws 82 operate in the closing direction (closing operation)), and the pole-shaped object (target object) such as the utility pole P can be gripped. Since the opening / closing mechanism 93 is configured symmetrically, the pair of gripping claws 82 are adapted to open and close symmetrically.

[0027] An operator's seat 30 for operating each of the working devices (the swivel table 12, the boom 13, the auger device 20, and the gripping device 50) is provided immediately behind the driver's cabin 7 in the vehicle body 2 and in front of the swivel table 12. In front of the operator's seat 30 is provided an operating device 31 that can be operated by an operator while remaining seated. As shown in FIG. 9, the operating device 31 is provided with a boom rotation and hoisting operation lever 32a for rotating and raising the boom 13, a boom extension and contraction operation lever 32b for extending and contracting the boom 13 and bending and extending the arm 51, an auger operation lever 32c for rotating the earth auger 22, a gripper vertical swing operation lever 32d for vertically swinging the gripper 81, a gripper horizontal swing operation lever 32e for horizontally swinging the gripper 81, a gripper rotation operation lever 32f for rotating the gripper 81, and a gripper opening and closing operation lever 32g for opening and closing the gripper 81.

[0028] As shown in FIG. 9, the operation device 31 is provided with a mode selection switch 33. The mode selection switch 33 is configured as a toggle switch that can be switched to either a neutral position or a tilted position (the switched operation position is maintained even if the operator releases his / her hand). When the mode selection switch 33 is selected to the neutral position, the normal mode is set, and when the mode selection switch 33 is selected to the tilted position, the linked mode is set. The normal mode is a mode in which the hydraulic actuators are independently driven in response to the operation of each of the operation levers 32a to 32g, and the boom 13 can be raised, lowered, or rotated, the auger device 20 (earth auger 22), the arm 51 can be bent or extended, and the gripper 81 can be vertically swung, horizontally swung, rotated, and opened / closed. The linked mode is a mode in which the hydraulic actuators are combined and driven (linked drive) in response to the operation of the boom slewing / hoisting operation lever 32a and the boom extension / retraction operation lever 32b, and the gripper 81 can be moved according to a gripper coordinate system described later.

[0029] Here, as shown in FIG. 9, the operating mechanisms for the swivel base 12, boom 13, auger device 20, gripping device 50, etc., are configured with a controller 100 that receives operation signals from an operating device 31 and controls the swivel motor 14, telescopic cylinder 15, hoisting cylinder 16, auger motor 21, arm cylinder 55, vertical swing cylinder 62, horizontal swing cylinder 71, gripper motor 79, and gripper cylinder 99 (hereinafter collectively referred to as "hydraulic actuators"), and a hydraulic unit 110 that supplies hydraulic oil to drive these hydraulic actuators.

[0030] An operation signal output by operating the operating device 31 is 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).

[0031] The hydraulic unit 110 includes a hydraulic pump 111 that discharges hydraulic oil, and a control valve 112 that controls the supply direction and supply amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator. The hydraulic pump 111 is driven by power taken from the vehicle engine via a PTO mechanism (not shown). The control valve 112 includes 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 elevation / depression cylinder 16, an electromagnetic proportional control valve V4 corresponding to the auger motor 21, 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, and an electromagnetic proportional control valve V9 corresponding to the gripper cylinder 99. Based on a command signal from the controller 100, this control valve 112 electromagnetically drives the spools of each electromagnetic proportional control valve V1 to V9 to control the supply direction and amount of hydraulic oil supplied from the hydraulic pump 111 to each hydraulic actuator, and controls the drive direction and drive speed of each hydraulic actuator (controlling the operating direction and operating speed of the swivel table 12, boom 13, auger device 20, and gripping device 50).

[0032] The controller 100 is electrically connected to various detectors such as a boom hoisting angle detector 120, a boom extension amount detector 121, a boom rotation angle detector 122, an arm bending / extending angle detector 123, a gripper vertical swing angle detector 124, a gripper horizontal swing angle detector 125, and a gripper rotation angle detector 126.

[0033] The boom hoisting angle detector 120 is provided inside the base boom 13a and detects the hoisting angle of the boom 13. The boom extension amount detector 121 is provided at the base end of the base boom 13a and detects the length (extension amount) of the boom 13. The boom rotation angle detector 122 is provided on the vehicle body 2 and detects the rotation angle of the boom 13 (rotating body 12) relative to the vehicle body 2. The arm bending / extending angle detector 123 is provided in the vicinity of the connection (connecting pin 52) between the boom head 19 and the arm 51. The gripper vertical swing angle detector 124 is provided in a position adjacent to the connection portion (connecting pin 53) between the arm 51 and the first joint member 60, and detects the vertical swing angle (swing angle) of the first joint member 60 relative to the arm 51. The gripper horizontal swing angle detector 125 is provided in a position adjacent to the connection portion (connecting pin 61) between the first joint member 60 and the second joint member 70, and detects the horizontal swing angle (swing angle) of the second joint member 70 relative to the first joint member 60. The gripper rotation angle detector 126 detects the rotation angle of the gripper 81 about the rotation axis J.

[0034] The controller 100 includes a position calculation unit 101 and an operation control unit 102 .

[0035] The position calculation unit 101 calculates the position and attitude of the grip part 81 relative to the vehicle body 2 based on detection information from the boom hoisting angle detector 120, the boom extension amount detector 121, the boom rotation angle detector 122, the arm bending / stretching angle detector 123, the grip part vertical swing angle detector 124, the grip part horizontal swing angle detector 125, and the grip part rotation angle detector 126. The position of the grip part 81 is the position of the grip part 81 in the front-rear direction, the left-right direction, and the up-down direction with respect to the vehicle body 2. The attitude of the grip part 81 is the direction of the grip part 81 with respect to the vehicle body 2 and the inclination angle with respect to the horizontal plane.

[0036] The operation control section 102 controls the driving of each hydraulic actuator in accordance with an operation signal (operation command) output from the operation device 31, based on the operation mode selected by the mode selection switch 33. Each operation mode will be described below.

[0037] When the mode selection switch 33 is set to the normal mode and the operation levers 32a to 32g are operated, the operation control section 102 independently drives the corresponding hydraulic actuators in response to the operation of each of the operation levers 32a to 32g. Specifically, when the boom rotation / hoisting operation lever 32a is tilted forward (in the front-rear and left-right directions based on the operator operating the boom: the same applies below), the operation control section 102 drives the hoisting cylinder 16 to retract and lower the boom 13, and when the boom rotation / hoisting operation lever 32a is tilted backward, the operation control section 102 drives the hoisting cylinder 16 to extend and raise the boom 13. When the boom telescopic / flexible / extension operation lever 32b is tilted forward, the telescopic cylinder 15 is extended and the boom 13 is extended, and when the boom telescopic / flexible / extension operation lever 32b is tilted backward, the operation control section 102 drives the telescopic cylinder 15 to retract and lower the boom 13. Furthermore, when the boom swing / hoisting operation lever 32a is tilted leftward, the swing motor 14 is driven to rotate in the forward direction to swing the boom 13 counterclockwise, and when the boom swing / hoisting operation lever 32a is tilted rightward, the swing motor 14 is driven to rotate in the reverse direction to swing the boom 13 clockwise. Furthermore, when the auger operation lever 32c is tilted forward, the auger motor 21 is driven to rotate in the reverse direction to rotate the earth auger 22 in the reverse direction, and when the auger operation lever 32c is tilted backward, the auger motor 21 is driven to rotate in the forward direction to rotate the earth auger 22 in the forward direction. Furthermore, when the boom telescopic bending / extending operation lever 32b is tilted leftward, the arm cylinder 55 is driven to contract and the arm 51 is bent and extended downward relative to the tip of the boom 13, and when the boom telescopic bending / extending operation lever 32b is tilted rightward, the arm cylinder 55 is driven to extend and the arm 51 is bent and extended upward relative to the tip of the boom 13. Furthermore, when the gripper vertical swing operation lever 32d is tilted forward, the vertical swing cylinder 62 is driven to extend and the gripper 81 is swung downward (vertical swing operation), and when the gripper vertical swing operation lever 32d is tilted backward, the vertical swing cylinder 62 is driven to contract and the gripper 81 is swung upward (vertical swing operation).When the gripper horizontal swing operation lever 32e is tilted leftward, the horizontal swing cylinder 71 is extended to swing the gripper 81 leftward (horizontal swing operation), and when the gripper horizontal swing operation lever 32e is tilted rightward, the horizontal swing cylinder 71 is contracted to swing the gripper 81 rightward (horizontal swing operation). Also, the gripper rotation operation lever 32f is tilted forward. When the gripper rotation operation lever 32f is tilted backward, the gripper motor 79 is driven in the reverse direction to rotate the gripper 81 counterclockwise. When the gripper opening / closing operation lever 32g is tilted forward, the gripper cylinder 99 is driven to contract to operate the gripper 81 in the closing direction (the direction to grip the target object), and when the gripper opening / closing operation lever 32g is tilted backward, the gripper cylinder 99 is driven to extend to operate the gripper 81 in the opening direction (the direction to release the grip of the target object).

[0038] When the mode selection switch 33 is set to the interlocking mode, the operation control unit 102 sets a coordinate system (referred to as the "grip coordinate system") fixed to the gripper 81, and controls the driving of each corresponding hydraulic actuator according to this gripper coordinate system. As shown in FIG. 7, this gripper coordinate system is a coordinate system expressed by three orthogonal axes, XYZ, set with the center of the gripper 81 (the center of the cross section of the gripped utility pole P) as the origin. The X-axis is a coordinate axis set along the opening / closing direction (gripping direction) of the gripper 81. The Y-axis is a coordinate axis set along the direction of the rotation axis J of the gripper 81. The Z-axis is a coordinate axis set in a direction perpendicular to the X-axis and Y-axis, that is, along the axial direction of the gripped object (utility pole P) when the gripper 81 grips the gripper object (utility pole P). As a result, when the mode selection switch 33 is set to the linked mode, the operation control unit 102 links each hydraulic actuator in response to the operation of the boom rotation / hoisting operation lever 32a and the boom extension / retraction operation lever 32b, to move the gripping portion 81 linearly along the movement directions (X-axis direction, Y-axis direction, Z-axis direction) defined based on the gripping portion coordinate system while maintaining the posture of the gripping portion 81 (the ground angle that is the angle that the utility pole P makes with the ground).

[0039] 10 and 11 are schematic diagrams for explaining the movement direction of the gripper 81 in the interlocking mode (grip coordinate system). Specifically, when the mode selection switch 33 is set to the interlocking mode, the operation control unit 102 interlocks and drives the hydraulic actuators to move the gripper 81 in the +Z direction (toward the tip end in the axial direction of the utility pole P) when the boom rotation / hoisting operation lever 32a is tilted forward, and interlocks and drives the hydraulic actuators to move the gripper 81 in the -Z direction (toward the base end in the axial direction of the utility pole P) when the boom rotation / hoisting operation lever 32a is tilted backward. In addition, when the mode selection switch 33 is selected in the linkage mode, the operation control unit 102 links and drives each hydraulic actuator so as to move the grip portion 81 in the +X direction (one side in the opening and closing direction of the grip portion 81) when the boom rotation and hoisting operation lever 32a is tilted to the right, and links and drives each hydraulic actuator so as to move the grip portion 81 in the -X direction (the other side in the opening and closing direction of the grip portion 81) when the boom rotation and hoisting operation lever 32a is tilted to the left. Furthermore, when the mode selection switch 33 is set to the interlocking mode, the operation control unit 102 interlocks and drives the hydraulic actuators to move the grip part 81 in the +Y direction (one side in the direction of the rotation axis J of the grip part 81) when the boom extension / contraction / flexion / extension operation lever 32b is tilted forward, and interlocks and drives the hydraulic actuators to move the grip part 81 in the -Y direction (the other side in the direction of the rotation axis J of the grip part 81) when the boom extension / contraction / flexion / extension operation lever 32b is tilted backward. Note that in FIG. 4 described above, the left-right direction in the direction of the arrows in the figure corresponds to the X-axis direction (the left direction is the -X direction, and the right direction is the +X direction), the front-rear direction corresponds to the Y-axis direction (the front direction is the +Y direction, and the rear direction is the -Y direction), and the up-down direction corresponds to the Z-axis direction (the up direction is the +Z direction, and the down direction is the -Z direction).

[0040] In this way, when the mode selection switch 33 is set to the interlocking mode, the operation control unit 102 sets a grip unit coordinate system based on the position and attitude of the grip unit 81 calculated by the position calculation unit 101, determines the movement direction and movement speed of the grip unit 81 in this grip unit coordinate system according to the operation direction and operation amount of the boom rotation / hoisting operation lever 32a and the boom extension / contraction operation lever 32b, and linearly moves the grip unit 81 in this movement direction and movement speed. The storage unit of the controller 100 stores data, functions, maps, tables, and the like for determining the optimal drive direction and drive amount of each hydraulic actuator (two or more hydraulic actuators) for moving the gripper 81 in the linked mode, based on the position and attitude of the gripper 81 calculated by the position calculation unit 101 and the movement direction and movement speed of the gripper 81 in the gripper coordinate system.

[0041] Next, in order to facilitate understanding of this embodiment, the operation of the grip-type pole hole digging vehicle 1 of this embodiment will be described. In the following description, unless otherwise specified, it is assumed that the mode selection switch 33 is set to the linked mode.

[0042] [When moving a utility pole placed horizontally on the ground] First, a case where a horizontally held utility pole P is moved will be described with reference to Fig. 12 and Fig. 13. The movement of the utility pole P at this time is performed when, with the start of pole erection work, the utility pole P to be erected, which is placed horizontally at the work site (ground), is moved to a safe place (a place that does not interfere with the surroundings) or near a pole erection hole.

[0043] First, as shown in Fig. 12, when the gripper 81 grips a utility pole P placed horizontally on the ground, in order to move the utility pole P upward, the boom telescopic bending / extension operation lever 32b is tilted backward. As a result, the operation control unit 102 controls the raising and lowering operation of the boom 13 (extension drive of the hoisting cylinder 16), the extension operation of the boom 13 (extension drive of the telescopic cylinder 15), the vertical swing operation in the lowering direction of the gripper 81 (extension drive of the vertical swing cylinder 62) and / or the bending and extending operation in the lowering direction of the arm 51 (retraction drive of the arm cylinder 55) to be driven in a linked manner, thereby moving the gripper 81 and the utility pole P linearly in the -Y direction (upward) while maintaining the angle of the gripped utility pole P with respect to the ground. In this linked operation, with regard to the vertical swing action of the gripping part 81 in the downward direction and the bending and extending action of the arm 51 in the downward direction, the vertical swing action of the gripping part 81 in the downward direction is basically performed first, and when the operating range (movable range) of this vertical swing action is exceeded, the bending and extending action of the arm 51 in the downward direction is performed complementarily.

[0044] Furthermore, as shown in FIG. 13, when the gripping portion 81 grips a utility pole P placed horizontally on the ground, in order to move the utility pole P toward the tip in the axial direction, the boom rotation and hoisting operation lever 32a is tilted forward. As a result, the operation control unit 102 controls the raising and lowering operation of the boom 13 (extension drive of the raising and lowering cylinder 16), the extension operation of the boom 13 (extension drive of the telescopic cylinder 15), the rotation operation of the boom 13 in a clockwise direction (reverse rotation drive of the rotation motor 14), the vertical swing operation in the lowering direction of the gripping portion 81 (extension drive of the vertical swing cylinder 62) and / or the bending and extending operation in the lowering direction of the arm 51 (retraction drive of the arm cylinder 55), and the rotation operation in the counterclockwise direction of the gripping portion 81 (reverse drive of the gripper motor 79) to be driven in a coordinated manner, thereby making it possible to move the gripping portion 81 and the pole P linearly toward the +Z direction (the tip side in the axial direction) while maintaining the angle of the gripped utility pole P with respect to the ground.

[0045] [When moving a vertical utility pole] Next, a case where a vertically held utility pole P is moved will be described with reference to Figures 14 and 15. The movement of the utility pole P at this time is performed when aligning the utility pole P with respect to a pole hole in order to insert the utility pole P in a vertical posture into the pole hole.

[0046] First, as shown in Fig. 14, when the utility pole P held by the gripper 81 is in a vertical position, in order to move the utility pole P upward, the boom slewing and hoisting operation lever 32a is tilted forward. This causes the operation control unit 102 to control the raising and lowering operation of the boom 13 (extending the hoisting cylinder 16), the extending operation of the boom 13 (extending the telescopic cylinder 16), the vertical swing operation of the gripper 81 in the lowering direction (extending the vertical swing cylinder 62) and / or the actuation of the actuator 32a. By controlling the operation of the arm 51 in the downward bending and extending direction (retraction drive of the arm cylinder 55) in conjunction with the bending and extending operation of the arm 51 in the downward direction, the gripping portion 81 and the pole P can be moved linearly in the +Z direction (upward) while maintaining the angle of the gripped utility pole P with respect to the ground.

[0047] 15, when the utility pole P held by the gripper 81 is held vertically, in order to move the utility pole P in a direction away from the vehicle (rearward of the vehicle), the boom telescopic bending / extension operation lever 32b is tilted forward. This allows the operation control unit 102 to control the interlocking drive of the lowering operation of the boom 13 (retraction drive of the hoisting cylinder 16), the extension operation of the boom 13 (extension drive of the telescopic cylinder 16), the vertical swing operation of the gripper 81 in the lifting direction (retraction drive of the vertical swing cylinder 62) and / or the bending / extension operation of the arm 51 in the lifting direction (extension drive of the arm cylinder 55), thereby moving the gripper 81 and the utility pole P linearly in the +Y direction (rearward of the vehicle) while maintaining the angle of the gripped utility pole P with respect to the ground.

[0048] As described above, according to the grip-type pole digging vehicle 1 of this embodiment, in the linked mode, the utility pole P gripped by the gripping portion 81 can be moved in the axial direction of the pole P and in a direction perpendicular to the axial direction while maintaining the ground angle in accordance with the operation of the boom rotation / hoisting operation lever 32a and the boom extension / retraction operation lever 32b, and the worker can intuitively move the utility pole P in the direction he or she wants regardless of the position or posture of the gripping portion 81 (because the worker can perform operations that match his or her senses), thereby improving the operability during linked operation of the boom 13 and support mechanism, and increasing the work efficiency of pole erection work, relocation work, etc., and also making it possible to prevent erroneous operation in unintended directions and improve the safety of the work.

[0049] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the gist of the present invention.

[0050] In the above embodiment, when the mode selection switch 33 is set to the linked mode and the boom rotation / hoisting operation lever 32a and / or the boom telescopic / flexing operation lever 32b is operated, the grip portion 81 is moved in accordance with the grip portion coordinate system. However, this is not limited to the above configuration. For example, in addition to the operation levers 32a to 32g, a dedicated operation lever for the grip portion coordinate system may be provided, and when this dedicated operation lever is operated, the grip portion 81 may be moved in accordance with the grip portion coordinate system (mode switching may be unnecessary).

[0051] In addition, 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).

[0052] In addition, in the above embodiment, a PTO-driven pole hole digger vehicle is exemplified, in which engine power is extracted by a PTO mechanism (power take-off mechanism) to drive a hydraulic pump. However, the present invention is not limited to this configuration, and may also be an electrically powered (battery-powered) pole hole digger vehicle, or a hybrid type pole hole digger vehicle that has both and can selectively switch between power sources. [Explanation of symbols]

[0053] 1 Gripping type hole digging pole erecting vehicle 2. Body 13. Boom 31 Operating device 32a Boom rotation / hoisting operation lever (handle operation part) 32b Boom telescopic bending / extension operation lever (handle operation part) 33 Mode selection switch (handle operation part) 50 Gripping device 51 Arm (support mechanism) 60 First joint member (support mechanism) 70 Second joint member (support mechanism) 81 Gripping part 82 Gripping claw 100 Controller 101 Position calculation section 102 Operation control section J Rotation axis (rotation axis)

Claims

1. A vehicle that can be driven; A boom provided on the vehicle body so as to be capable of rising, falling, extending and rotating; A gripping portion provided at a tip of the boom for gripping a columnar object; a support mechanism provided between the tip of the boom and the gripping part, the support mechanism changing a position and a posture of the gripping part relative to the tip of the boom; an operating device for operating the boom and the support mechanism; an operation control unit that operates the boom and the support mechanism in response to an operation of the operation device, the operating device has a gripper operating part that is operated to move the gripper in an axial direction of the columnar object gripped by the gripper and in a direction perpendicular to the axial direction, The control device for a gripping-type pole hole digging vehicle is characterized in that the operation control unit controls the operation of the boom and the support mechanism so that the gripping unit moves in the axial direction of the pole object gripped by the gripping unit and in a direction perpendicular to the axial direction while maintaining the ground angle of the pole object gripped by the gripping unit in response to operation of the gripping unit operating unit.

2. The control device for a grip-type pole hole digging vehicle as described in claim 1, characterized in that the operation control unit moves the gripping unit in the axial direction of the pillar-shaped object, a first orthogonal direction perpendicular to the axial direction, and a second orthogonal direction perpendicular to the axial direction and the first orthogonal direction in response to operation of the gripping unit operating unit.

3. The gripping portion has an openable / closable gripping claw and is configured to be rotatable around a predetermined rotation axis, The first orthogonal direction is set to an opening / closing direction of the gripping jaws, The control device for a grip-type pole digging vehicle according to claim 2, characterized in that the second orthogonal direction is set to the direction of the rotation axis.

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