Wave-dissipating block gripping device and wave-dissipating block moving method

Abstract

A wave-dissipating block gripping device 110 that is supported by a work machine 100 and capable of gripping a wave-dissipating block CB having legs LP, the wave-dissipating block gripping device comprising: a first holding mechanism 116 and a second holding mechanism 140 that hold radially two respective legs LP of the four legs LP, and a base member 114 that is rotatably supported by the work machine 100 and supports the first holding mechanism 116 and the second holding mechanism 140, wherein the first holding mechanism 116 is rotatably supported by the base member 114 and includes a pair of first holding members 118 capable of gripping one leg LP out of the two legs LP when the distal ends thereof are brought closer to each other, and a first driving device 122 that rotationally drives the pair of first holding members 118. As a result, it is possible to provide a compact and lightweight wave-dissipating block gripping device and a wave-dissipating block moving method that make it possible to grip and move a wave-dissipating block safely and more reliably.

Description

[Technical field]

[0001] The present invention relates to a wave-dissipating block gripping device and a wave-dissipating block moving method. [Background technology]

[0002] Conventionally, concrete wave-dissipating blocks, which have four legs extending from the center of gravity of a regular tetrahedron in the direction of each vertex, i.e., extending in different directions, have a strong bonding force when multiple blocks are stacked due to their unique shape. As a result, they can effectively attenuate and dissipate the energy of waves generated in rivers and oceans, and are therefore also called wave-dissipating base-solidifying blocks or wave-breaking blocks, and are used for the purpose of revetments and water conservation.

[0003] However, due to the unique shape of this wave-dissipating block, basically, multiple wires must be used when lifting and lowering it with a work machine such as a crane. And, most of the connection and disconnection of the multiple wires wrapped around the bottom of this wave-dissipating block (wire slinging work (base mounting work)) is done manually. Here, this wave-dissipating block is heavy, so the wires used are also heavy, and even connecting and disconnecting the wires manually requires a lot of effort. In addition, the site where this wave-dissipating block is used is in a poor footing situation, and there are many dangers for workers. In particular, when placing multiple wave-dissipating blocks on top of each other, workers need to give instructions from the wave-dissipating block near the lower wave-dissipating block, but the surface of the wave-dissipating block is slippery and the working environment is unstable. As a result, workers are prone to slipping and falling, and many accidents have occurred.

[0004] For this reason, various gripping devices have been proposed in the past. For example, the gripping device of Patent Document 1 is configured to grip the joints of the legs extending in three directions in a plan view by closing three holding members, in order to solve the problem of dangerous slinging work of wires by hand. In other words, the gripping device of Patent Document 1 is configured to grip the vicinity of the center of gravity of the wave-dissipating block, so that it is possible to stably grip and move the wave-dissipating block. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-85179 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the gripping device shown in Patent Document 1 may not be able to grip stably unless one leg is facing directly down or directly up and there are no obstacles around the center of gravity of the wave-dissipating block. In other words, when wave-dissipating blocks are repeatedly stacked and moved, or stored in preparation for disasters, the wave-dissipating blocks may overlap, making the area around the center of gravity difficult to grip. In such cases, the gripping device shown in Patent Document 1 may have difficulty in gripping and moving the blocks.

[0007] In addition, since Patent Document 1 also assumes that the legs of the wave-dissipating block are facing straight up, the gripping device needs to be large enough to embrace one entire leg (for example, for a wave-dissipating block weighing about 16 tons and measuring about 3 m in height, the gripping device weighs about 12 tons and measures about 6 m in height). For this reason, there was a concern that the gripping device in Patent Document 1 itself would be large and heavy compared to the wave-dissipating block.

[0008] Therefore, the present invention has been made to solve the above-mentioned problems, and its objective is to provide a wave-dissipating block gripping device and a wave-dissipating block moving method that can grip and move wave-dissipating blocks safely and more reliably without requiring dangerous manual slinging of wires, and that can be made smaller and lighter. [Means for solving the problem]

[0009] The present invention provides a wave-dissipating block gripping device that is supported by a work machine and is capable of gripping a wave-dissipating block having a plurality of legs extending in different directions from each other, and comprises a first holding mechanism and a second holding mechanism that hold the radial direction of each of two of the plurality of legs, and a base member that is rotatably supported by the work machine and supports the first holding mechanism and the second holding mechanism, wherein the first holding mechanism comprises a pair of first holding members that are rotatably supported on the base member and are capable of gripping one of the two legs by bringing their tips closer to each other, and a first drive device that drives the pair of first holding members to rotate, and the second holding mechanism comprises a ring member whose inner diameter is equal to or greater than the minimum outer diameter of the legs and whose inner diameter is adjustable, thereby solving the above-mentioned problem.Alternatively, a wave-dissipating block gripping device that is supported by a work machine and can grip a wave-dissipating block having a plurality of legs extending in different directions from each other includes a first holding mechanism and a second holding mechanism that hold the radial direction of each of two of the plurality of legs, and a base member that is rotatably supported by the work machine and supports the first holding mechanism and the second holding mechanism, and the first holding mechanism includes a pair of first holding members that are rotatably supported by the base member and can grip one of the two legs by bringing their tip portions closer to each other, and a first drive device that drives the pair of first holding members to rotate, and the first drive device is built into the wave-dissipating block gripping device and includes a linear motion mechanism in which the upper ends of the pair of first holding members are directly connected to the end, and the linear motion mechanism is a cylinder mechanism having two cylinder chambers separated by a piston into which a fluid can flow, and the first drive device is, Furthermore, the wave-dissipating block holding device is equipped with a drive mechanism for driving the one linear motion mechanism, the drive mechanism being equipped with an on-off valve that prevents a decrease in the fluid from the two cylinder chambers and can fix the operation of the one linear motion mechanism, the drive mechanism being equipped with a first switching flow path body and a second switching flow path body that are connected to the two cylinder chambers, respectively, and each of which has two on-off valves, a first electric linear motion mechanism that simultaneously opens and closes one of the two on-off valves in the first switching flow path body and the second switching flow path body, and a second electric linear motion mechanism that simultaneously opens and closes the other on-off valve in the first switching flow path body and the second switching flow path body, wherein a fluid pressure delivery port that sends the fluid from the pump to the two cylinder chambers is provided between the two on-off valves in the second switching flow path body, and a fluid discharge port that discharges the fluid from the two cylinder chambers is provided between the two on-off valves in the first switching flow path body, thereby solving the above problem.

[0010] In the present invention, a first holding mechanism and a second holding mechanism are provided to hold the radial direction of each of two of the multiple legs of a wave-dissipating block having multiple legs extending in different directions. Therefore, since it is assumed that there are more wave-dissipating blocks in a position in which the two legs can be grasped than in a position in which the vicinity of the center of gravity can be grasped as shown in the conventional technology, it is possible to hold the wave-dissipating block more reliably. At the same time, since the first holding mechanism and the second holding mechanism are configured to hold the radial direction of each of the two legs, it is possible to configure the structure so that a holding mechanism large enough to hold one entire leg is not required. Effect of the Invention

[0011] According to the present invention, it is possible to provide a small and lightweight wave-dissipating block gripping device and a wave-dissipating block moving method that can grip and move wave-dissipating blocks safely and more reliably without having to perform dangerous manual slinging work with wires. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing a work machine, a wave-dissipating block gripping device, and a wave-dissipating block according to a first embodiment of the present invention. [Diagram 2] A diagram showing the wave-dissipating block gripping device of FIG. 1 (perspective view (A), side view (B)) [Diagram 3] 3A, 3B, and 3C are diagrams showing the drive mechanisms of the first and second drive devices of the wave-dissipating block gripping device of FIG. 2 (top view (A), side view (B), and perspective view (C)). [Figure 4] FIG. 4 is a block diagram showing the first drive unit (second drive unit) and the drive mechanism of FIG. 3. [Diagram 5] A diagram showing the procedure for gripping and moving a wave-dissipating block using the wave-dissipating block gripping device of Figure 2 (Figure (A) of lowering the wave-dissipating block gripping device relative to the wave-dissipating block, Figure (B) of tilting the wave-dissipating block gripping device relative to the wave-dissipating block, Figure (C) of gripping the wave-dissipating block with the wave-dissipating block gripping device, Figure (D) of hanging the wave-dissipating block from the wave-dissipating block gripping device) [Figure 6]Flowchart explaining the procedure shown in Figure 5 [Figure 7] Figures showing the procedure for placing a wave-dissipating block in a specified position using the wave-dissipating block gripping device of Figure 2 (Figure (A) showing the wave-dissipating block gripping device being lowered while gripping the wave-dissipating block, Figure (B) showing the wave-dissipating block being tilted by the wave-dissipating block gripping device, Figure (C) showing the wave-dissipating block being released and the wave-dissipating block gripping device being raised, Figure (D) showing the attitude of the tilted wave-dissipating block gripping device being corrected and the wave-dissipating block gripping device being raised) [Figure 8] Flowchart explaining the procedure shown in Figure 7 [Figure 9] Schematic diagram showing a working machine and a wave-dissipating block gripping device according to a second embodiment of the present invention (side view (A) and perspective view (B)) [Figure 10] A diagram showing the procedure for gripping a wave-dissipating block using the wave-dissipating block gripping device of Figure 9 (Figure (A) showing the wave-dissipating block gripping device being lowered relative to the wave-dissipating block, Figure (B) showing the wave-dissipating block being tilted relative to the wave-dissipating block, Figure (C) showing the wave-dissipating block being gripped by the wave-dissipating block gripping device) [Figure 11] FIG. 5 is a schematic diagram showing a work machine and a wave-dissipating block gripping device according to a third embodiment of the present invention. [Figure 12] 12A and 12B are diagrams showing the wave-dissipating block holding device of FIG. 11 (side view (A) and perspective view (B)). [Figure 13] A diagram showing the procedure for gripping a wave-dissipating block using the wave-dissipating block gripping device of FIG. 12 (a diagram of lowering the wave-dissipating block gripping device relative to the wave-dissipating block (A), a diagram of tilting the wave-dissipating block gripping device relative to the wave-dissipating block (B), and a diagram of the wave-dissipating block gripped by the wave-dissipating block gripping device (C)). [Figure 14] Figures showing the procedure for projecting a wave-dissipating block toward a specified position using the wave-dissipating block gripping device of Figure 12 (Figure (A) showing the wave-dissipating block gripping device rotating while gripping the wave-dissipating block, Figure (B) showing the wave-dissipating block being rotated to the opposite side by the wave-dissipating block gripping device, Figure (C) showing the release of one leg of the wave-dissipating block, and Figure (D) showing the complete release of the wave-dissipating block by controlling the rotation of the wave-dissipating block gripping device) [Figure 15]A flowchart explaining the procedure shown in FIG. 14. [Figure 16] A block diagram illustrating a drive mechanism of a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an example of the first embodiment of the present invention will be described in detail with reference to FIGS.

[0014] First, based on FIG. 1, a working machine 100, a wave-dissipating block gripping device 110, and a wave-dissipating block CB will be generally described.

[0015] As shown in Fig. 1, the work machine 100 is, for example, a crane vehicle with outriggers (it may be an excavator or a crane mechanism installed on a barge), and is equipped with an arm body 102 whose inclination angle can be changed on a rotatable main body 101. The arm body 102 is, for example, an extendable telescopic boom (it may be a lattice boom). A main wheel 104 is provided at the tip of the arm body 102, and a main wire Mw that suspends the wave-dissipating block holding device 110 is engaged therewith (therefore, the wave-dissipating block holding device 110 is in a state in which it can rotate accordingly around the main wire Mw). Although not shown, a sub-wheel is provided at the tip of the arm body 102, and a sub-wire Sw for changing the attitude of the wave-dissipating block holding device 110 is engaged therewith. In other words, shortening the feed length of the main wire Mw and the auxiliary wire Sw causes the wave-dissipating block holding device 110 to rise, and lengthening the feed length of the main wire Mw and the auxiliary wire Sw causes the wave-dissipating block holding device 110 to descend. Note that a relay wheel 106 is rotatably supported on the arm body 102, which feeds out a fluid hose (connected to a fluid pressure supply port FI and a fluid discharge port FO of a drive mechanism 126 described later) for driving the wave-dissipating block holding device 110, and an electric wire (extending from a control unit CU described later to a first electric linear motion mechanism 134 and a second electric linear motion mechanism 136).

[0016] As shown in Figure 1, the wave dissipating block CB is a concrete irregular block with four legs LP that extend from the center of gravity of a regular tetrahedron to each vertex, i.e., in different directions. In general, wave dissipating block CBs do not often use reinforcing bars, partly from the viewpoint of preventing deterioration due to corrosion. For this reason, wave dissipating block CBs may be severely damaged if localized stress is applied, and coupled with their size, they must be held, transported, and installed carefully and accurately without applying large stress. There are 18 types of wave dissipating block CBs in total, ranging from 0.5 tons (height 90 cm) to 80 tons (height 5 m), and the cross section of the leg LP is almost circular. In rivers, those weighing 10 tons or less are mainly used (for example, those weighing 6.3 tons and about 2 m in height). Wave dissipating block CBs are basically manufactured in the required number and size using formwork near the construction site.

[0017] The wave-dissipating block holding device 110 is supported by the work machine 100 as shown in Fig. 1, and is capable of holding a wave-dissipating block CB. As shown in Figs. 2(A) and (B), the wave-dissipating block holding device 110 includes an attachment portion 112, a base member 114, a first holding mechanism 116, and a second holding mechanism 140. The first holding mechanism 116 and the second holding mechanism 140 hold the radial direction of each of two of the four legs LP of the wave-dissipating block CB. The base member 114 is rotatably supported by the work machine 100, and supports the first holding mechanism 116 and the second holding mechanism 140. In this embodiment, it is assumed that it can be used mainly in rivers, and the wave-dissipating block holding device 110 weighs less than 4 tons and has a height of less than 2 m for a wave-dissipating block CB that weighs 6.3 tons and is approximately 2 m high (thus, for a wave-dissipating block CB that weighs 16 tons and is approximately 3 m high, the wave-dissipating block holding device 110 can be configured to weigh at most 10 tons and have a height of less than 3 m). It is desirable to use a different wave-dissipating block holding device 110 for each size of wave-dissipating block CB, but one size of wave-dissipating block holding device 110 is capable of holding three or more adjacent sizes of wave-dissipating block CB (for example, a wave-dissipating block holding device 110 designed for a 6.3-ton (2m high) wave-dissipating block CB is capable of moving five different sizes of wave-dissipating block CB: 3.2 tons (1.6m high), 4 tons (1.8m high), 5 tons (1.9m high), 6 tons (2m high), and 8 tons (2.3m high).

[0018] Next, each component will be described in detail.

[0019] As shown in Fig. 1, Fig. 2(A) and (B), the mounting portion 112 is connected to the base member 114 and includes a main mounting hole 112A supported by the main wire Mw and a sub-mounting hole 112C supported by the sub-wire Sw. The main mounting hole 112A is provided on the extension line of the main wire Mw so as to overlap with the center of gravity of the wave-dissipating block holding device 110, while the sub-mounting hole 112C is provided at the end of the extension portion 112B extending in a direction perpendicular to the main wire Mw. Therefore, the posture of the wave-dissipating block holding device 110 can be changed by changing (in a direction to shorten) the feed length of the sub-wire Sw relative to the main wire Mw (that is, the base member 114 is provided with a change member (i.e., the extension portion 112B) that changes the positional relationship between the first holding mechanism 116 and the second holding mechanism 140 when the base member 114 is rotatably supported by the work machine 100).

[0020] As shown in Figs. 2A and 2B, the base member 114 has a symmetrical structure because the first holding mechanism 116 and the second holding mechanism 140 have the same shape. The base member 114 includes a connection portion 114A, an outer portion 114B, a divided center portion 114C, a divided support portion 114D, a rotation support portion 114E, and a pressing portion 114F. The connection portion 114A is a plate-like member connected to the mounting portion 112. The outer portion 114B is a plate-like member integrally provided on each of both ends of the connection portion 114A in an oblique direction (for example, inclined at about 55 degrees downward from the plane on which the connection portion 114A is located). The divided center portion 114C and the two divided support portions 114D are plate-like members integrally formed on the inside in a shape perpendicular to the connection portion 114A and the two outer portions 114B. The divided central portion 114C and the two divided support portions 114D are also integrally connected, and as shown in FIG. 2(B), the connection portion 114A, the outer portion 114B, the divided central portion 114C, and the divided support portion 114D form two symmetrical cylindrical shapes surrounding the linear motion mechanism 124 and the drive mechanism 126 (that is, the linear motion mechanism 124 and the drive mechanism 126 are built into the wave dissipating block holding device 110). Therefore, the base member 114 has a structure that is not easily deformed even when a large external force is applied. The rotation support portion 114E is integral with the divided support portion 114D, and rotatably supports a pair of first holding members 118 and a pair of second holding members 142 on a plane parallel to the outer portion 114B. For this reason, the cross section of the portion of the leg LP held by the first holding mechanism 116 and the cross section of the portion of the leg LP held by the second holding mechanism 140 are both flat and are configured to intersect at approximately 70 degrees (angle α), i.e., an acute angle. The rotation support part 114E holds and pivotally supports the pair of first holding members 118 (the pair of second holding members 142) together with the pressing part 114F on the outer side, thereby rotatably supporting the pair of first holding members 118 (the pair of second holding members 142).

[0021] 2(A) and (B), the first holding mechanism 116 includes a pair of first holding members 118 and a first driving device 122. Also, the second holding mechanism 140 is identical to the first holding mechanism 116, and includes a pair of second holding members 142 and a second driving device 146, as shown in FIG.

[0022] As shown in FIG. 2(A), the pair of first holding members 118 are supported by the base member 114 so as to be rotatable, and can grip one of the two legs LP by bringing their tip ends 118A closer to each other. As shown in FIG. 2(A), the first holding members 118 are plate-shaped members whose parts that contact the legs LP are curved to imitate the legs LP. In addition, a rod-shaped member having a substantially circular cross-sectional shape is provided at the contact part 120 that directly contacts the legs LP (this rod-shaped member may be made of a cushioning material such as rubber and made replaceable). Therefore, even if the legs LP are gripped by the pair of first holding members 118, there are no corners, so that local stress is avoided from being applied to the wave-dissipating block CB, and damage to the legs LP can be prevented. The upper ends 118B of the pair of first holding members 118 are each directly connected to the end of one linear motion mechanism 124 (described later). The pair of second holding members 142 have the same configuration as the pair of first holding members 118, and therefore a description thereof will be omitted.

[0023] 2(A) and 2(B), the first driving device 122 is configured to rotate the pair of first holding members 118. Specifically, the first driving device 122 includes one linear motion mechanism 124 and a driving mechanism 126 (note that the second driving device 146 has the same configuration as the first driving device 122, and includes one linear motion mechanism 124 and a driving mechanism 126. For this reason, a description of the second driving device 146 will be omitted).

[0024] 4, the linear motion mechanism 124 is a cylinder mechanism including two cylinder chambers 124A and 124B separated by a piston into which a fluid can flow. Upper ends 118B of the pair of first holding members 118 are directly coupled to the ends of the linear motion mechanism 124, respectively.

[0025] As shown in Fig. 2(B), the drive mechanism 126 is built into the wave dissipating block holding device 110 and drives one linear motion mechanism 124. As shown in Figs. 3(A), (B), and (C), the drive mechanism 126 includes a first switching flow path body 130, a second switching flow path body 132, a first electric linear motion mechanism 134, and a second electric linear motion mechanism 136. The first switching flow path body 130 and the second switching flow path body 132 are connected to the two cylinder chambers 124A and 124B, respectively, and each include two on-off valves BV1 and BV2 (BV3 and BV4). The on-off valves BV1 to BV4 are valve cocks such as ball valves having a simple structure, and by closing them all, it is possible to prevent a decrease in fluid from the two cylinder chambers 124A, 124B and fix the operation of the linear motion mechanism 124 (i.e., the drive mechanism 126 is configured to include on-off valves BV1 to BV4 that can prevent a decrease in fluid from the two cylinder chambers 124A, 124B and fix the operation of the single linear motion mechanism 124).

[0026] More specifically, as shown in Fig. 3(A), (B), and (C), the first switching flow path body 130 includes two L-shaped pipes TB1 and TB3, two on-off valves BV1 and BV2, and a T-shaped pipe TB2. In the first switching flow path body 130, the L-shaped pipe TB1 is connected to one side of the on-off valve BV1, and one side of the T-shaped pipe TB2 provided with a fluid discharge port FO is connected to the other side of the on-off valve BV1. Furthermore, one side of the on-off valve BV2 is connected to the other side of the T-shaped pipe TB2, and the L-shaped pipe TB3 is connected to the other side of the on-off valve BV2. That is, as shown in Fig. 4, the first switching flow path body 130 has a configuration in which a fluid discharge port FO for discharging fluid from the two cylinder chambers 124A and 124B is provided between the two on-off valves BV1 and BV2.

[0027] As shown in Fig. 3(A), (B), and (C), the second switching flow path body 132 includes two L-shaped pipes TB4 and TB6, two on-off valves BV3 and BV4, and a T-shaped pipe TB5. In the second switching flow path body 132, the L-shaped pipe TB4 is connected to one side of the on-off valve BV3, and one side of the T-shaped pipe TB5 provided with a fluid pressure-feed port FI is connected to the other side of the on-off valve BV3. Furthermore, one side of the on-off valve BV4 is connected to the other side of the T-shaped pipe TB5, and the L-shaped pipe TB6 is connected to the other side of the on-off valve BV4. In other words, as shown in Fig. 4, the second switching flow path body 132 has a configuration in which a fluid pressure-feed port FI for sending fluid from the pump PP to the two cylinder chambers 124A and 124B is provided between the two on-off valves BV3 and BV4.

[0028] As shown in Fig. 3(A) to (C), the first electric linear motion mechanism 134 includes a support portion 134A, a motor portion 134B, a connection portion 134C, a fixed portion 134D, a movable portion 134E, and a coupling portion 134F. The support portion 134A has a through hole (not shown) and is provided at the end of the connection portion 134C. As a result, the first electric linear motion mechanism 134 is supported by a rod 128A attached to a U-shaped casing 128. The motor portion 134B is, for example, an electric motor. And, an encoder is housed in the connection portion 134C. And, a ball screw is housed in the fixed portion 134D, and the rotation of the electric motor is read by the encoder and converted into the rotation of the ball screw. The movable portion 134E is capable of linear movement by the rotation of the ball screw. The connecting part 134F is attached to the movable part 134E and rotates the lever members LK1 and LK2 simultaneously. The lever members LK1 and LK2 are connected to the on-off valves BV2 and BV4, respectively, and the on-off valves BV2 and BV4 can be opened and closed simultaneously by the rotational movement.

[0029] The second electric linear motion mechanism 136 has the same configuration as the first electric linear motion mechanism 134, and includes a support portion 136A, a motor portion 136B, a connection portion 136C, a fixed portion 136D, a movable portion 136E, and a connecting portion 136F, as shown in Figs. 3(A) to 3(C). The second electric linear motion mechanism 136 is supported by a rod 128B attached to a U-shaped casing 128. The connecting portion 136F rotates the lever members LK3 and LK4 simultaneously. The lever members LK3 and LK4 are connected to the on-off valves BV1 and BV3, respectively, and the on-off valves BV1 and BV3 can be opened and closed simultaneously by the rotational movement.

[0030] In other words, the drive mechanism 126 can be said to be configured to include a first electric linear mechanism 134 that simultaneously opens and closes one of the two on-off valves BV1, BV2 (BV3, BV4) BV2, BV4 in the first switching flow path body 130 and the second switching flow path body 132, and a second electric linear mechanism 136 that simultaneously opens and closes the other on-off valve BV1, BV3 in the first switching flow path body 130 and the second switching flow path body 132.

[0031] As can be seen from Figs. 3(A)-(C) and 4, the L-shaped pipes TB1 and TB3 are connected to the cylinder chambers 124B and 124A, respectively. The fluid outlet FO of the T-shaped pipe TB2 is connected to a pipe returning to the pump unit PU (the fluid may be oil or water. When the fluid is water and water can be discharged, the pipes may not be connected). In this embodiment, the wave-dissipating block holding device 110 incorporates two linear motion mechanisms 124 and two drive mechanisms 126, but the control unit CU that controls the first electric linear motion mechanism 134 and the second electric linear motion mechanism 136 is arranged outside. Similarly, the pump unit PU is also arranged outside, but the flow path is branched to the first drive device 122 and the second drive device 146 for common use.

[0032] Next, a procedure for gripping and moving the wave-dissipating block CB using the wave-dissipating block gripping device 110 in this embodiment will be described with reference to Figs. 5(A) to (D) and 6.

[0033] The work machine 100 lowers the wave-dissipating block gripping device 110 from above the wave-dissipating block CB (FIG. 5(A), FIG. 6, step S2).

[0034] Next, as necessary, the feed length of the sub-wire Sw relative to the feed length of the main wire Mw is adjusted based on the direction of one of the two legs LP to change the posture of the wave-dissipating block holding device 110 and adjust the direction of the second holding mechanism 140 in advance (FIG. 5(B), FIG. 6 step S4). Then, the pair of second holding members 142 are kept somewhat closed so that the leg LP can be held when the wave-dissipating block holding device 110 is lowered.

[0035] Next, the wave-dissipating block holding device 110 is lowered, and the second holding mechanism 140 is engaged with one of the legs LP (Step S6 in FIG. 6). This state is not a firm holding state, but a state in which the distance between the pair of second holding members 142 is larger than the radius of the legs LP, and the wave-dissipating block holding device 110 can rotate around the leg LP.

[0036] Next, the work machine 100 moves the first holding mechanism 116 closer to and engages with the remaining one of the two legs LP based on the engagement state of the second holding mechanism 140 (FIG. 6, step S8). That is, the work machine 100 is operated to rotate and adjust the wave-dissipating block holding device 110 around the leg LP, so that the leg LP can be held by the pair of first holding members 118 of the first holding mechanism 116 in a plan view. When this state is reached, the wave-dissipating block holding device 110 is further lowered to move the pair of first holding members 118 of the first holding mechanism 116 closer to each other, so that the first holding member 118 comes into contact with the remaining one of the legs LP.

[0037] Next, the remaining one of the legs LP is held by the first holding mechanism 116 (step S10 in FIG. 6). Also, the other of the legs LP is held by the second holding mechanism 140 (step S12 in FIG. 6). That is, the first holding mechanism 116 and the second holding mechanism 140 each hold a different leg LP (FIG. 5(C)). Note that the order in which the first holding mechanism 116 and the second holding mechanism 140 hold the leg LP may be reversed.

[0038] Then, the work machine 100 raises the wave-dissipating block holding device 110 (FIG. 5(D)), and adjusts the feed length of the secondary wire Sw to eliminate the inclination of the wave-dissipating block holding device 110. Then, the wave-dissipating block CB is moved in a stable state with the two legs LP other than the two held legs LP facing downward (FIG. 6, step S14).

[0039] Next, a procedure for placing the wave-dissipating block CB in a predetermined position using the wave-dissipating block holding device 110 will be described with reference to Figs. 7(A) to (D) and 8.

[0040] First, the work machine 100 moves the wave-dissipating block gripping device 110 gripping the wave-dissipating block CB above a predetermined position.

[0041] Next, the work machine 100 lowers the wave-dissipating block CB to a predetermined position (Fig. 7(A), Fig. 8 step S20). At that time, the wave-dissipating block holding device 110 is tilted based on the state of the predetermined position to adjust the posture of the wave-dissipating block CB in advance (Fig. 8 step S22). This posture adjustment is performed by adjusting the feed length of the sub-wire Sw relative to the feed length of the main wire Mw, as described above. After the posture adjustment, the wave-dissipating block CB is positioned (Fig. 7(B), Fig. 8 step S24).

[0042] Next, one of the legs LP is released by the first holding mechanism 116, and the remaining one of the legs LP is released by the second holding mechanism 140 (Step S26 in FIG. 8).

[0043] Then, the work machine 100 raises the wave-dissipating block holding device 110, and moves the wave-dissipating block holding device 110 away from the wave-dissipating block CB (FIG. 8, step S28).

[0044] From the stage at which the two legs LP are released until the wave-dissipating block holding device 110 rises to an appropriate height, the posture of the wave-dissipating block holding device 110 is kept imitating the posture of the wave-dissipating block CB (FIG. 7(C)). After that, the feed length of the auxiliary wire Sw is adjusted, and the inclination of the wave-dissipating block holding device 110 is eliminated (FIG. 7(D)).

[0045] In this manner, in this embodiment, the first holding mechanism 116 and the second holding mechanism 140 are provided to hold the radial direction of each of two of the four legs LP of the wave-dissipating block CB having four legs LP extending in different directions. For this reason, it is assumed that there are more wave-dissipating blocks CB in a position in which the two legs LP can be grasped than in a position in which the vicinity of the center of gravity can be grasped as shown in the conventional technology, so that it is possible to hold the wave-dissipating block CB more reliably. When the wave-dissipating block CB is grasped, the two legs LP face downward, so that the wave-dissipating block CB can be lifted in a balanced state and can be transported stably. At the same time, the first holding mechanism 116 and the second holding mechanism 140 are configured to hold the radial direction of each of the two legs LP, so that a holding mechanism large enough to hold one whole leg LP is not required.

[0046] For example, according to conventional technology, for a wave-dissipating block weighing approximately 16 tons and measuring approximately 3 m in height, a gripping device would weigh approximately 12 tons and be approximately 6 m in height, whereas the wave-dissipating block gripping device 110 of this embodiment can be constructed so that, at most, it weighs less than 10 tons and is less than 3 m in height.

[0047] In this embodiment, the first holding mechanism 116 and the second holding mechanism 140 are the same, and the first holding mechanism 116 and the second holding mechanism 140 are configured to be controlled independently of each other. Therefore, the first holding mechanism 116 and the second holding mechanism 140 can share the same components, which can promote cost reduction. Furthermore, the first holding mechanism 116 and the second holding mechanism 140 can be controlled independently of each other, so that the two legs LP can be held and released at the optimal timing. Therefore, it is also possible to smoothly install the wave dissipating block CB and adjust its posture.

[0048] Furthermore, in this embodiment, the cross section of the portion of the leg LP held by the first holding mechanism 116 and the cross section of the portion of the leg LP held by the second holding mechanism 140 are both flat. Therefore, the reaction force of the force applied to the leg LP by the first holding mechanism 116 is applied only to the first holding mechanism 116, and the reaction force of the force applied to the leg LP by the second holding mechanism 140 is applied only to the second holding mechanism 140. That is, the holding force of the leg LP by the first holding mechanism 116 does not depend on the second holding mechanism 140, and the holding force of the leg LP by the second holding mechanism 140 does not depend on the first holding mechanism 116. Therefore, even if the first holding mechanism 116 and the second holding mechanism 140 are driven independently, each leg LP can be stably held.

[0049] In this embodiment, the wave-dissipating block CB is held by a pair of first holding members 118 and a pair of second holding members 142. In other words, the wave-dissipating block CB is supported by four members, so the stress applied to the wave-dissipating block CB can be made smaller than in the conventional technology (when supported by three members). This makes it possible to further prevent damage to the wave-dissipating block CB.

[0050] In addition, in this embodiment, the cross section of the portion of the leg LP held by the first holding mechanism 116 and the cross section of the portion of the leg LP held by the second holding mechanism 140 intersect at an acute angle (about 70 degrees). Therefore, the first holding mechanism 116 and the second holding mechanism 140 are almost directly opposite each leg LP (intersecting at about 70 degrees) of the wave-dissipating block CB used in this embodiment. Therefore, the components of the first holding mechanism 116 and the second holding mechanism 140 (i.e., the first holding member 118 and the second holding member 142) can be made smallest and lightest, and further each leg LP can be reliably and stably held.

[0051] However, the present invention is not limited to this, and the cross section of the portion of the leg LP held by the first holding mechanism and the cross section of the portion of the leg LP held by the second holding mechanism may not be flat. It is sufficient that the first holding mechanism and the second holding mechanism can hold different legs LP independently. The cross section of the portion of the leg LP held by the first holding mechanism and the cross section of the portion of the leg LP held by the second holding mechanism may not be about 70 degrees. They may be acute angles greater than 0 degrees and less than 90 degrees. Even in this case, it is possible to prevent the wave dissipating block CB that is too large and heavy compared to the size of the wave dissipating block holding device from being held, and it is possible to prevent the wave dissipating block CB from falling or the wave dissipating block holding device from being damaged. Of course, the cross section of the portion of the leg LP held by the first holding mechanism and the cross section of the portion of the leg LP held by the second holding mechanism may be 0 degrees or 90 degrees or more. As described above, if the first holding mechanism and the second holding mechanism can hold different legs LP independently, it is possible to hold the wave dissipating block CB.

[0052] In this embodiment, the base member 114 is provided with a change member (extension portion 112B) that changes the positional relationship between the first holding mechanism 116 and the second holding mechanism 140 when the base member 114 is rotatably supported by the work machine 100. Therefore, the attitude of the wave-dissipating block holding device 110 can be changed by changing the feed length of the sub-wire Sw relative to the main wire Mw. This makes it possible to change the attitude of the wave-dissipating block holding device 110 according to the attitude of the wave-dissipating block CB, and to hold and lift the wave-dissipating block CB. In addition, when placing the wave-dissipating block CB at a predetermined position, the wave-dissipating block CB can be placed after changing the attitude of the wave-dissipating block CB to a desired one. Note that this is not limited to this, and the wave-dissipating block CB may be moved using another work machine so that the two legs LP are easily held, and then the wave-dissipating block CB may be held and transported. In addition, when transporting the wave-dissipating block CB to be placed at a predetermined position, it may be placed near the predetermined position once, and then changed to the desired attitude by another work machine or the like.

[0053] In this embodiment, the first driving device 122 (second driving device 146) is built into the wave-dissipating block holding device 110 and includes one linear motion mechanism 124 directly connected to the end of each of the upper end portions 118B (upper end portions 142B) of the pair of first holding members 118 (pair of second holding members 142). This makes it possible to simplify the configuration of the first driving device 122 (second driving device 146). At the same time, in the process of bringing the pair of first holding members 118 (the pair of second holding members 142) closer to each other to hold the leg LP, when one of the pair of first holding members 118 (the pair of second holding members 142) abuts against the leg LP, it is possible to prevent the first abutting first holding member 118 (the second holding member 142) from exerting any further pressing force on the leg LP until only the first holding member 118 (the second holding member 142) that is not in contact rotates and abuts against the leg LP. Therefore, it is possible to prevent excessive stress from being applied to the leg LP, and to further prevent damage to the wave-dissipating block CB. Note that, without being limited to this, two linear motion mechanisms may be used to rotate each of the first holding members (each of the second holding members) independently, or one linear motion mechanism may be used to rotate each of the pair of first holding members (the pair of second holding members) at the same angle.

[0054] In this embodiment, the linear motion mechanism 124 is a cylinder mechanism including two cylinder chambers 124A, 124B separated by a piston into which a fluid can flow. Therefore, compared to a case where the linear motion mechanism is configured as an electric linear motion mechanism, it is possible to realize the rotation of the pair of first holding members 118 (the pair of second holding members 142) in a small size and at low cost. However, the linear motion mechanism is not limited to this, and may be configured as an electric linear motion mechanism.

[0055] In this embodiment, the first drive device 122 and the second drive device 146 each further include a drive mechanism 126 that is built into the wave-dissipating block holding device 110 and drives one linear motion mechanism 124, and the drive mechanism 126 includes on-off valves BV1 to BV4 that prevent a decrease in fluid from the two cylinder chambers 124A and 124B and can fix the operation of one linear motion mechanism 124. Therefore, even if the piping extending from the pump unit PU arranged outside the wave-dissipating block holding device 110 to the drive mechanism 126 is cut and the fluid flows out, the position of the linear motion mechanism 124 can be locked (i.e., the state of the first holding member 118 and the second holding member 142 can be fixed). That is, even in such a case, it is possible to prevent an unexpected accident such as the wave-dissipating block CB falling from the wave-dissipating block holding device 110 or the attitude of the wave-dissipating block CB changing. However, this is not limiting, and the fluid pressure in the cylinder chamber may be stabilized directly from outside the wave-dissipating block holding device without incorporating a drive mechanism.

[0056] In this embodiment, the drive mechanism 126 includes a first switching flow path body 130, a second switching flow path body 132, a first electric linear motion mechanism 134, and a second electric linear motion mechanism 136. In this case, the first switching flow path body 130 and the second switching flow path body 132 have the same configuration, and the first electric linear motion mechanism 134 and the second electric linear motion mechanism 136 simultaneously open and close the on-off valves BV1 to BV4 of the first switching flow path body 130 and the second switching flow path body 132. In other words, the configuration and control of the drive mechanism 126 can be simplified and the cost can be reduced.

[0057] FIG. 16 shows a drive mechanism DM assumed for comparison. This drive mechanism DM includes two pilot controlled check valves PV1 and PV2 and a solenoid valve SV. The linear motion mechanism SU shown in FIG. 16 includes two cylinder chambers SU1 and SU2. The two pilot controlled check valves PV1 and PV2 are connected to the cylinder chambers SU1 and SU2, and are check valves for preventing the fluid from flowing out from the point in time when the amount of fluid in each chamber is determined. The two pilot controlled check valves PV1 and PV2 are check valves that allow the fluid to flow out from the other cylinder chamber SU2 (or SU1) when the fluid pressure (pilot pressure) to one cylinder chamber SU1 (or SU2) increases. The two pilot controlled check valves PV1 and PV2 are each connected to a solenoid valve SV. The solenoid valve SV is, for example, a four-way valve, and is a valve that switches between the pumping direction and the discharge direction of the fluid by using electromagnetic force. The pump unit PU is connected to the solenoid valve SV, and is for pumping the fluid to the cylinder chambers SU1 and SU2. The control unit CU is for controlling the solenoid valve SV, and both are disposed outside (on the ground).

[0058] Thus, the drive mechanism DM includes two pilot control check valves PV1 and PV2 and a solenoid valve SV, but these are expensive due to their complex configuration. For this reason, by combining four general-purpose and simple on-off valves (valve cocks such as ball valves) BV1 to BV4 with the first electric linear motion mechanism 134 and the second electric linear motion mechanism 136 as in this embodiment, it is possible to simplify the control and reduce costs compared to the drive mechanism DM. Note that the drive mechanism DM may use a sequence valve or the like, but it will still be more expensive than the general-purpose and simple on-off valves BV1 to BV4 used in this embodiment.

[0059] Incidentally, the drive mechanism DM is also configured to be able to lock the position of the linear motion mechanism SU even if the cable / pipe extending from the drive mechanism DM to the outside is broken. Therefore, even if the drive mechanism DM is used instead of the drive mechanism 126, it is possible to prevent unexpected accidents such as the wave-dissipating block CB falling off the wave-dissipating block holding device 110 or the posture of the wave-dissipating block CB changing.

[0060] In this embodiment, the fluid is oil or water. When the fluid is oil, the pump unit PU of the work machine 100 may be used, but it is more preferable to prepare a new work machine and use the pump unit PU, since the operation of the wave-dissipating block gripping device 110 does not affect the operation of the work machine 100 (basically, pump units that generate hydraulic pressure are not common). When the fluid is water, a pump unit PU that sucks up water can be used. In this case, the larger the pump unit PU is, the higher the discharge capacity is, and the faster the operation of the first holding mechanism 116 and the second holding mechanism 140 can be performed, but a small, general-purpose pump unit PU may also be used. This is because the object to be gripped is a heavy wave-dissipating block CB, and since the work must be carried out carefully, it may be preferable not to make the operation speed of the first holding mechanism 116 and the second holding mechanism 140 too fast. In addition, if the pump unit PU uses an engine, there is no need to prepare a separate power source, and there are few restrictions on the place where it can be used. For this reason, if the fluid is water, the pump unit PU can be easily prepared. Furthermore, since the wave dissipating block CB is used in a place where there is water, problems with obtaining water, leakage, and discharge are unlikely to occur. Note that the present invention is not limited to this, and air or the like may be used as the fluid.

[0061] Therefore, in this embodiment, it is possible to provide a small and lightweight wave-dissipating block gripping device 110 and a wave-dissipating block moving method that can grip and move wave-dissipating blocks CB safely and more reliably without the need for dangerous manual slinging of wires. In other words, the wave-dissipating block gripping device 110 can be manufactured at a lower cost than the conventional technology, and can be easily transported, installed, and used, and can quickly and reliably move wave-dissipating blocks CB during emergency measures when there is a risk of a levee collapsing, for example.

[0062] Although the present invention has been described with reference to the first embodiment, the present invention is not limited to the first embodiment. In other words, it goes without saying that improvements and design changes are possible without departing from the gist of the present invention.

[0063] For example, in the first embodiment, the posture of the wave-dissipating block holding device 110 is changed by adjusting the feed length of the secondary wire Sw, but the present invention is not limited to this. For example, it may be as shown in the second embodiment shown in Figs. 9(A), (B), 10(A), (B), and (C). In the second embodiment, the secondary wire Sw is not required. The second embodiment will be described below. The difference from the first embodiment is the configuration and operation of the work machine 200 and the mounting portion 212. For this reason, the last two digits of the reference numerals of the other components are the same, and descriptions are basically omitted.

[0064] In this embodiment, the work machine 200 is, for example, a backhoe with a bendable arm body 202 (for example, having a configuration as shown in FIG. 11 of a third embodiment described later). As shown in FIGS. 9(A) and (B), a U-shaped pivot support part 202A is pivotally supported at the tip of the arm body 202, and a hook FK is also pivotally supported thereon. The hook FK is configured to directly support an attachment part 212.

[0065] The wave-dissipating block holding device 210 has the same configuration as the first embodiment, and includes an attachment part 212, a base member 214, a first holding mechanism 216, and a second holding mechanism 240, as shown in Figs. 9(A) and (B) (note that the drive mechanism is omitted in Fig. 9(A)). The attachment part 212 includes a rotation support part 212A, a posture deformation part 212B, and a rotation part 212C. The rotation support part 212A is a plate-like member having a main attachment hole 212AA at its upper end, and supports the rotation part 212C so that it can rotate. A hook FK is hooked on the main attachment hole 212AA. The posture deformation part 212B includes two connecting parts 212BA and 212BC, and a cylinder part 212BB. The connecting portion 212BA is attached to the outer side of the base member 214, and the connecting portion 212BC is rotatably connected to the rotation support portion 212A. The cylinder portion 212BB is rotatably supported by the two connecting portions 212BA, 212BC. Therefore, the connection angle of the rotation support portion 212A to the rotation portion 212C changes due to the extension and contraction of the cylinder portion 212BB (that is, also in this embodiment, the base member 214 is configured to be provided with a change member (posture deformation portion 212B) that changes the positional relationship between the first holding mechanism 216 and the second holding mechanism 240 when the base member 214 is rotatably supported by the work machine 200). The cylinder portion 212BB is driven by hydraulic pressure supplied from the work machine 200.

[0066] Next, a procedure for gripping and moving a wave-dissipating block CB using the wave-dissipating block gripping device 210 in this embodiment will be described with reference to Figs. 10(A) to (C).

[0067] The work machine 200 lowers the wave-dissipating block holding device 210 from above the wave-dissipating block CB (FIG. 10(A)).

[0068] Next, as necessary, the posture of the wave-dissipating block holding device 210 is changed by adjusting the expansion / contraction state of the cylinder part 212BB based on the direction of one of the two legs LP, and the direction of the second holding mechanism 240 is adjusted in advance (FIG. 10(B)). Then, the pair of second holding members is kept in a somewhat closed state so that the leg LP can be held when the wave-dissipating block CB is lowered.

[0069] Next, the wave-dissipating block gripping device 210 is lowered, and the second holding mechanism 240 is engaged with one of the legs LP. Then, based on the engagement state of the second holding mechanism 240, the work machine 200 moves the first holding mechanism 216 closer to and engages with the remaining one of the two legs LP.

[0070] Next, the remaining one of the legs LP is held by the first holding mechanism 216. Also, the other of the legs LP is held by the second holding mechanism 240 (FIG. 10(C)). Then, the work machine 200 raises the wave-dissipating block holding device 210, and moves the wave-dissipating block CB.

[0071] In the above embodiment, the wave-dissipating block holding devices 110, 210 are suspended from the work machines 100, 200, but the present invention is not limited to this. For example, they may be as shown in the third embodiment shown in Figs. 11 to 15. In the third embodiment, the wave-dissipating block holding device is attached to the arm body of the work machine so that its posture can be controlled. In addition, the configuration of the second holding mechanism is changed. The third embodiment will be described below. The difference from the first and second embodiments is the connection part with the wave-dissipating block holding device 310 of the work machine 300, and the configuration and operation of the wave-dissipating block holding device 310 excluding the first holding mechanism 316. For this reason, the last two digits of the reference numerals of the other components are the same, and the description is basically omitted.

[0072] In this embodiment, the work machine 300 is a backhoe with a bendable arm body 302, as shown in Fig. 11. The arm body 302 is supported by a main body 301 so as to be able to swing and rotate. A wave-dissipating block gripping device 310 is attached and supported by a support shaft 302A and a link shaft 302B provided at the tip of the arm body 302, in the same manner as a normal work attachment (such as a cutter or grapple). In other words, the wave-dissipating block gripping device 310 is attached to the arm body 302, which enables control of the rising and falling and the rotation and swing of the wave-dissipating block gripping device 310.

[0073] 12(A) and (B), the wave-dissipating block holding device 310 includes an attachment portion 312, a base member 314, a first holding mechanism 316, and a second holding mechanism 340. The first holding mechanism 316 and the second holding mechanism 340 hold the radial direction of each of two of the four legs LP of the wave-dissipating block CB. The base member 314 is rotatably supported by the work machine 300, and supports the first holding mechanism 316 and the second holding mechanism 340.

[0074] 11, the mounting portion 312 is connected to the support shaft 302A and the link shaft 302B of the arm body 302. The mounting portion 312 is a member that changes the attitude of the wave-dissipating block holding device 310 by changing the position of the link shaft 302B relative to the support shaft 302A (that is, in this embodiment as well, the base member 314 is provided with a change member (mounting portion 312) that changes the positional relationship between the first holding mechanism 316 and the second holding mechanism 340 when the base member 314 is rotatably supported by the work machine 300).

[0075] As shown in Figs. 12A and 12B, the base member 314 is rotatably supported by the mounting portion 312 via the rotation device 313. The rotation device 313 can rotate depending on the balance of the weight applied from the base member 314 to the rotation device 313, but may be provided with a drive unit that controls the rotation angle. The base member 314 includes a frame 314A, a rotation support portion 314B, a pressing portion 314C, and a second holding mechanism support portion 314D. The frame 314A is rotatably supported by the mounting portion 312 as a part of the rotation device 313, and is configured to surround the linear motion mechanism 324 of the first holding mechanism 316 (the drive mechanism is omitted from Fig. 12A). The rotation support portion 314B is integral with the frame 314A, and rotatably supports a pair of first holding members 318 on a plane parallel to the frame 314A. For this reason, the cross section of the portion of leg portion LP held by first holding mechanism 316 is configured to be flat. Rotation support portion 314B sandwiches and pivotally supports the pair of first holding members 318 together with pressing portion 314C on the outer side, thereby rotatably supporting the pair of first holding members 318. Second holding mechanism support portion 314D is a member for mounting to frame 314A so that the angle between second holding mechanism 340 and the pair of first holding members 318 is an acute angle (angle α is approximately 70 degrees).

[0076] 12(A) and (B), the first holding mechanism 316 includes a pair of first holding members 318 and a first driving device 322. Note that the configuration of the first holding mechanism 316 is the same as that of the first embodiment, and therefore a description thereof will be omitted.

[0077] The second holding mechanism 340 includes a ring member 342 whose inner diameter is equal to or larger than the minimum outer diameter of the leg portion LP and whose inner diameter is adjustable. For example, the ring member 342 is a wire rope curved into a ring shape and having a thickness of 1 cm or more (depending on the weight of the wave-dissipating block CB). The ring member 342 is fixed on the second holding mechanism support part 314D with an adjustment member (for example, two U-shaped bolts) 344 (for this reason, the leg portion LP of the wave-dissipating block CB can be held to a certain extent by changing the position where the wire is supported by the adjustment member 344 and changing the inner diameter of the ring member 342 according to the outer diameter of the leg portion LP of the wave-dissipating block CB to be held). At least a part of the outer periphery of the ring member 342 may be covered with a cushioning material such as rubber. The presence of this cushioning material can prevent the wire from coming into direct contact with the leg portion LP, and can further prevent damage to the wave-dissipating block CB. As shown in FIG. 12(A), the ring member 342 of the second holding mechanism 340 also forms the same plane. In other words, the cross section of the portion of the leg LP held by the first holding mechanism 316 and the cross section of the portion of the leg LP held by the second holding mechanism 340 are both flat and form an acute angle (angle α is approximately 70 degrees).

[0078] Next, a procedure for gripping and moving the wave-dissipating block CB using the wave-dissipating block gripping device 310 in this embodiment will be described with reference to Figs. 13(A) to (C).

[0079] The work machine 300 lowers the wave-dissipating block holding device 310 from above the wave-dissipating block CB (FIG. 13(A)).

[0080] Next, the direction of the second holding mechanism 340 is adjusted in advance by the work machine 300 based on the direction of one of the two legs LP, as necessary (FIG. 13(B)). Note that the inner diameter of the ring member 342 is adjusted in advance.

[0081] Next, the wave-dissipating block gripping device 310 is lowered, and the second holding mechanism 340 is engaged with one of the legs LP. Then, based on the engagement state of the second holding mechanism 340, the work machine 300 moves the first holding mechanism 316 closer to and engages with the remaining one of the two legs LP.

[0082] Next, the remaining one of the legs LP is held by the first holding mechanism 316. Then, due to the holding by the first holding mechanism 316, the one of the legs LP does not come off the ring member 342, and the one of the legs LP is held by the second holding mechanism 340 (FIG. 13(C)).

[0083] Then, the work machine 300 raises the wave-dissipating block holding device 310 and moves the wave-dissipating block CB.

[0084] Next, the procedure for placing the wave-dissipating block CB in a predetermined position using the wave-dissipating block holding device 310 in this embodiment will be described. Basically, this can be achieved by following the flow chart shown in Fig. 8 and reversing the steps shown in Fig. 13(A)-(C). Therefore, the placement procedure unique to this embodiment will be described below with reference to Figs. 14(A)-(D) and 15.

[0085] First, the wave-dissipating block holding device 310 is raised while holding the wave-dissipating block CB by rotating the wave-dissipating block holding device 310 in a direction approaching the main body 301 of the work machine 300 (Figure 14(A), Figure 15 step S30).

[0086] Next, the wave-dissipating block holding device 310 is rotated in a direction away from the main body 301, thereby lowering the wave-dissipating block CB and moving it horizontally (FIG. 14(B), FIG. 15, step S32).

[0087] Next, of the first holding mechanism 316 and the second holding mechanism 340, one leg LP of the first holding mechanism 316 which is farther away from the main body part 301 is released (FIG. 14(C), FIG. 15 step S34).

[0088] Then, the work machine 300 brakes the rotation of the wave-dissipating block gripping device 310 to release the remaining leg LP from the second holding mechanism 340 (FIG. 15, step S36). This projects the wave-dissipating block CB, and places the wave-dissipating block CB in a predetermined position (FIG. 14(D), FIG. 15, step S38).

[0089] In this manner, in this embodiment, the second holding mechanism 340 is provided with the ring member 342 that does not require a drive device, and thus the wave-dissipating block gripping device 310 can be made lighter (for example, for a wave-dissipating block CB of 6 tons, the wave-dissipating block gripping device 110 of the first embodiment weighs less than 4 tons, whereas the wave-dissipating block gripping device 310 of this embodiment can further reduce the weight by about 1 ton to less than 3 tons). Therefore, in this embodiment, when the work machine 300 is a backhoe of 100 ton level, it is possible to freely move and place a wave-dissipating block CB of less than 10 tons, which is mainly used in rivers, by attaching the wave-dissipating block gripping device 310 of this embodiment. In other words, the wave-dissipating block CB that could not be placed at a sufficiently targeted predetermined position by a crane truck or a barge with a crane can be placed more accurately and quickly. Furthermore, by using the wave-dissipating block holding device 310 of this embodiment, it is also possible to project the wave-dissipating blocks CB, making it possible to quickly move and stack the wave-dissipating blocks CB close to the location in an emergency, such as during heavy rain when there is a high risk of a levee collapsing.

[0090] In the above embodiment, the wave-dissipating block CB is configured to have four legs LP (with a circular radial cross section) extending from the center of gravity of a regular tetrahedron, but is not limited to this. For example, the wave-dissipating block CB may be configured to have a plurality of (two or more) legs LP extending in different directions, and the radial cross section of the legs LP may not be a circle, but may be an ellipse, a polygon, or a combination thereof. [Industrial Applicability]

[0091] The present invention is suitable for moving, transporting and installing wave-dissipating blocks having multiple legs extending in different directions and used in rivers and harbors. [Explanation of symbols]

[0092] 100, 200, 300...Work machines 101, 301...Main body 102, 202, 302...Arm body 104…Main wheel 106…Relay wheel 110, 210, 310...wave-dissipating block gripping device 112, 212, 312...Mounting part 112A, 212AA, 312A…Main mounting hole 112B...Extension part 112C, 312B...Secondary mounting holes 114, 214, 314...Base material 114A…Connection 114B…Outer part 114C…Split center part 114D…Divided support part 114E, 202A, 314B... Rotation support part 114F, 314C...Pressing part 116, 216, 316...first holding mechanism 118, 318...First holding member 118A, 142A, 318A...Tip 118B, 142B, 318B...Top end 120, 144, 320...Contact part 122, 222, 322...First drive unit 124, 324, SU... Linear motion mechanism 124A, 124B, SU1, SU2...Cylinder chamber 126, DM...Drive mechanism 128…Casing 128A, 128B...Rod 130...First switching flow path body 132...second switching flow path body 134…First electric linear motion mechanism 134A, 136A…Support part 134B, 136B...Motor section 134C, 136C…Connections 134D, 136D…Fixed part 134E, 136E…Movable part 134F, 136F, 212BA, 212BC...Connection part 136…Second electric linear motion mechanism 140, 240, 340…Second holding mechanism 142...Second holding member 146, 246...Second drive unit 212A...Rotational support part 212B…Posture transformation section 212BB…Cylinder section 212C...Rotating part 302A…Support shaft 302B...Link shaft 313...Rotating device 314A…Frame body 314D…Second holding mechanism support part 342…Ring member 344…Adjustment member BV1, BV2, BV3, BV4...Shut-off valve CB: Wave-dissipating block CU: Control unit FI...Fluid pressure port FK…Hook FO…Fluid outlet LK1, LK2, LK3, LK4... Lever parts LP…legs Mw…Main wire PP…Pump PU…Pump unit PV1, PV2...Pilot controlled check valve SV…Solenoid valve Sw...Secondary wire TB1, TB2, TB3, TB4, TB5, TB6...Piping α…Angle

Claims

1. A wave-dissipating block gripping device that is supported by a work machine and can grip a wave-dissipating block having a plurality of legs extending in different directions, a first holding mechanism and a second holding mechanism for holding two legs of the plurality of legs in a radial direction; a base member rotatably supported by the work machine and supporting the first holding mechanism and the second holding mechanism; Equipped with the first holding mechanism includes a pair of first holding members that are rotatably supported by the base member and that can grip one of the two legs when tip portions of the first holding members approach each other, and a first drive device that drives the pair of first holding members to rotate; The wave-dissipating block gripping device is characterized in that the second holding mechanism is provided with a ring member whose inner diameter is equal to or greater than the minimum outer diameter of the leg and whose inner diameter is adjustable.

2. In claim 1, A wave-dissipating block gripping device characterized in that a cross-section of the portion of the leg held by the first holding mechanism and a cross-section of the portion of the leg held by the second holding mechanism are both planes and intersect at an acute angle.

3. In claim 1 or 2, A wave-dissipating block gripping device characterized in that the base member is provided with a change member that changes the positional relationship between the first holding mechanism and the second holding mechanism when the base member is rotatably supported by the work machine.

4. In any one of claims 1 to 3, The wave-dissipating block gripping device is characterized in that the first driving device is built into the wave-dissipating block gripping device, and each of the upper ends of the pair of first holding members is provided with a linear motion mechanism directly connected to the end.

5. In claim 4, The wave-dissipating block gripping device is characterized in that the linear motion mechanism is a cylinder mechanism having two cylinder chambers separated by a piston into which a fluid can flow.

6. In claim 5, The first driving device further includes a driving mechanism that is built into the wave dissipating block gripping device and drives the one linear motion mechanism, The wave-dissipating block gripping device is characterized in that the drive mechanism is equipped with an on-off valve that prevents the loss of fluid from the two cylinder chambers and can fix the operation of the one linear motion mechanism.

7. In claim 6, the drive mechanism includes a first switching flow path body and a second switching flow path body connected to the two cylinder chambers, each having two of the on-off valves, a first electric linear motion mechanism that simultaneously opens and closes one of the two on-off valves in the first switching flow path body and the second switching flow path body, and a second electric linear motion mechanism that simultaneously opens and closes the other on-off valve in the first switching flow path body and the second switching flow path body, A wave-dissipating block gripping device characterized in that a fluid pressure delivery port for sending the fluid from the pump into the two cylinder chambers is provided between the two on-off valves in the second switching flow path body, and a fluid discharge port for discharging the fluid from the two cylinder chambers is provided between the two on-off valves in the first switching flow path body.

8. In any one of claims 5 to 7, A wave-dissipating block gripping device characterized in that the fluid is oil or water.

9. A wave-dissipating block gripping device that is supported by a work machine and can grip a wave-dissipating block having a plurality of legs extending in different directions, a first holding mechanism and a second holding mechanism for holding two legs of the plurality of legs in a radial direction; a base member rotatably supported by the work machine and supporting the first holding mechanism and the second holding mechanism; Equipped with the first holding mechanism includes a pair of first holding members that are rotatably supported by the base member and that can grip one of the two legs when tip portions of the first holding members approach each other, and a first drive device that drives the pair of first holding members to rotate; The first drive device is built into the wave-dissipating block gripping device, and the upper ends of the pair of first holding members are directly connected to one linear motion mechanism, and the linear motion mechanism is a cylinder mechanism having two cylinder chambers separated by a piston into which a fluid can flow, The first driving device further includes a driving mechanism that is built into the wave dissipating block gripping device and drives the one linear motion mechanism, the drive mechanism includes an on-off valve that prevents the fluid from decreasing from the two cylinder chambers and fixes the operation of the one linear motion mechanism; the drive mechanism includes a first switching flow path body and a second switching flow path body connected to the two cylinder chambers, each having two of the on-off valves, a first electric linear motion mechanism that simultaneously opens and closes one of the two on-off valves in the first switching flow path body and the second switching flow path body, and a second electric linear motion mechanism that simultaneously opens and closes the other on-off valve in the first switching flow path body and the second switching flow path body, The second switching flow path body has a fluid pressure delivery port between the two on-off valves for feeding the fluid from the pump into the two cylinder chambers, and the first switching flow path body has a fluid discharge port between the two on-off valves for discharging the fluid from the two cylinder chambers. A wave-dissipating block holding device characterized by the above.

10. In claim 9, the second retention mechanism is identical to the first retention mechanism; a pair of second holding members that are rotatably supported by the base member and that can grip one of the remaining legs of the two legs when their tip portions approach each other; and a second drive device that drives the pair of second holding members to rotate. A wave-dissipating block gripping device characterized by the above.

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