Safety device for gripping type hole-digging and pole-erecting vehicle

Abstract

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

Description

Technical Field

[0001] The present invention relates to a safety device for a gripping type pole - digging and erecting vehicle equipped with a gripping device for gripping an object.

Background Art

[0002] As a pole - digging and erecting vehicle which is one of the work vehicles, there is known a gripping type pole - digging and erecting vehicle including a turntable provided rotatably on a vehicle body, a boom provided on the turntable so as to be capable of lifting and lowering and extending and contracting, an auger device attached to the boom for excavating a pole - erecting hole for driving a utility pole, and a gripping device provided at the tip of the boom for gripping a columnar object such as a utility pole (for example, see Patent Document 1). When excavating a pole - erecting hole on the ground using this gripping type pole - digging and erecting 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 excavation position, whereby a pole - erecting hole having a predetermined depth can be formed. After the excavation of this pole - erecting hole is completed, the auger device is pulled up and stored on the side of the boom, and the utility pole is gripped by the gripping device provided at the tip of the boom. By appropriately operating the boom while gripping the utility pole, the utility pole can be directly driven into the excavated pole - erecting hole. In such a gripping type pole - digging and erecting vehicle, a series of pole - erecting operations can be performed efficiently as compared with the case where the utility pole is suspended and the work is carried out using a winch or a crane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When performing various tasks using this type of gripping-type hole-digging and pole-erecting vehicle, jacks located on both sides of the vehicle body are extended downwards to lift the wheels above the ground and support the vehicle. After the work is completed, the jacks are retracted and the wheels are returned to the ground, making the vehicle ready to drive. However, even if the jacks are retracted after the work is completed, if the vehicle is driven with the auger and gripping devices not yet retracted, parts of the devices may protrude from the vehicle, or the vehicle's weight balance may be disrupted, leading to a decrease in driving stability and safety.

[0005] This invention has been made in view of these problems, and aims to provide a safety device for a gripping-type hole-digging and pole-erecting vehicle that can improve the stability and safety of driving. [Means for solving the problem]

[0006] To solve the above problems, First The safety device for the gripping-type hole-digging pole-erecting vehicle according to the present invention comprises: a boom mounted on the vehicle body so as to be able to move up and down and extend and retract; an auger device swingably mounted on the boom to perform excavation work; a gripping device having a gripping portion capable of gripping an object and a support mechanism provided at the tip of the boom to change the posture of the gripping portion relative to the tip; a jack device mounted on the vehicle body so as to be able to extend and retract to lift and support the vehicle body; a work operation device for operating the boom, the auger device and the gripping device; a jack operation device for operating the jack device; a work control unit that controls the operation of the boom, the auger device and the gripping device in accordance with the operation of the work operation device; a jack control unit that controls the operation of the jack device in accordance with the operation of the jack operation device; a boom storage detector that detects when the boom is stored relative to the vehicle body; and the auger device being retracted relative to the boom On one of the left and right sidesThe jack control unit includes an auger storage detector that detects when the auger is stored, and a gripping device storage detector that detects when the gripping device is stored relative to the boom. The jack control unit allows the operation of the jack device in response to the operation of the jack operating device when the boom storage detector detects the stored state of the boom, the auger storage detector detects the stored state of the auger device, and the gripping device storage detector detects the stored state of the gripping device. The storage position of the gripping device is set to be on the underside of the boom and overlapping with the boom in the vertical direction, or on the other side of the boom and overlapping with the auger device in the horizontal direction, with the boom in between. It is characterized by the following:

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

[0008] The second aspect of the present invention The safety device for the gripping-type hole-digging and pole-erecting vehicle is, A boom mounted on the vehicle body so as to be able to move up and down and extend and retract; an auger device swingably mounted on the boom for performing excavation work; a gripping device having a gripping part capable of gripping an object, and a support mechanism provided at the tip of the boom for changing the posture of the gripping part relative to the tip; a jack device mounted on the vehicle body so as to be able to extend and retract for lifting and supporting the vehicle body; a work operation device for operating the boom, the auger device and the gripping device; a jack operation device for operating the jack device; a work control unit that controls the operation of the boom, the auger device and the gripping device in accordance with the operation of the work operation device; and the operation of the jack operation device The jack control unit controls the operation of the jack device accordingly, and includes a boom retraction detector that detects when the boom is retracted relative to the vehicle body, an auger retraction detector that detects when the auger device is retracted relative to the boom, and a gripping device retraction detector that detects when the gripping device is retracted relative to the boom. The jack control unit allows the operation of the jack device in response to the operation of the jack operating device when the boom retraction detector detects the retracted state of the boom, the auger retraction detector detects the retracted state of the auger device, and the gripping device retraction detector detects the retracted state of the gripping device. The support mechanism comprises an arm provided at the tip of the boom and capable of bending and extending in a vertical plane; a vertical swivel mechanism provided at the tip of the arm and causing the gripping portion to swing in the vertical plane; and a horizontal swivel mechanism provided at the tip of the arm and causing the gripping portion to swing in a plane perpendicular to the vertical plane. The gripping device is configured to be retractable relative to the boom regardless of the horizontal swivel position of the gripping portion. It is characterized by the following.

[0009] Furthermore, in the safety device of the gripping type hole-digging pole-erecting vehicle with the above configuration, the gripping part has a pair of openable and closable gripping claws for gripping an object, and the support mechanism supports the gripping part The pair of gripping claws Preferably, the gripping device has a rotation mechanism that rotates it around a rotation axis perpendicular to the opening and closing direction, and is configured to be retractable relative to the boom regardless of the rotational position of the gripping part. [Effects of the Invention]

[0010] According to the safety device for the gripping-type hole-digging and pole-erecting vehicle of the present invention, by allowing the jack device to operate only when all working devices (boom, auger device, gripping device) are in the retracted state, it is possible to prevent situations in which part of the working devices protrude from the vehicle or the vehicle's weight balance is disrupted while driving on the road, thereby improving driving stability and safety. Furthermore, it is possible to prevent the jack device from being accidentally retracted while any of the working devices are in operation (during excavation work, during pole-erecting work), thus improving work safety. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view of a gripping-type hole-digging and pole-erecting vehicle equipped with a safety device according to this embodiment. [Figure 2] The above is a plan view of the gripping-type hole-digging and pole-erecting vehicle. [Figure 3] This is a side view showing the usage of the gripping-type hole-digging and pole-erecting vehicle described above. [Figure 4] This is a perspective view showing the deployed state of the auger device installed on the gripping-type hole-digging and pole-erecting vehicle described above. [Figure 5] This is a perspective view showing the storage state of the auger device described above. [Figure 6] This is a perspective view of the gripping device provided on the gripping-type hole-digging and pole-erecting vehicle described above. [Figure 7] This is a perspective view of the main part of the gripping device shown above, taken from the right. [Figure 8] This is a perspective view of the main part of the gripping device shown above, taken from the left. [Figure 9] This is a cross-sectional view of the gripping device described above. [Figure 10] This is a longitudinal cross-sectional view of the gripping device described above. [Figure 11] The above is a functional block diagram of the gripping-type hole-digging and pole-erecting vehicle. [Figure 12] This is a flowchart of the jack retraction control process performed in the above safety device. [Modes for carrying out the invention]

[0012] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. First, the overall configuration of the gripping type hole-digging column vehicle 1 according to the present embodiment will be described with reference to FIGS. 1 to 3.

[0013] As shown in FIG. 1, the gripping type hole-digging column vehicle 1 is configured based on a truck vehicle having a driver's cab 3 at the front of the vehicle body 2 and being capable of traveling by a pair of left and right tire wheels 4 arranged before and after the vehicle body 2. Jacks 5 for lifting and supporting the vehicle body 2 are arranged at four locations on the front, rear, left, and right of the vehicle body 2. As shown in FIG. 3 and the like, each jack 5 has an outer post 5a provided on the side of the vehicle body 2 and an inner post 5b housed in the outer post 5a so as to be telescopically extendable (extendable and retractable) downward. Each jack 5 drives a jack cylinder 6 provided therein to extend the inner post 5b downward with respect to the outer post 5a (by grounding a grounding plate provided at the lower end of the inner post 5b), thereby lifting and supporting the vehicle body 2 and making the entire vehicle body 2 in a stable state. Note that a jack operation device 7 (see FIG. 2 and the like) is arranged at the rear of the vehicle body 2, and the extension operation (extension operation) and contraction operation (retraction operation) of each jack 5 are configured to be performed in response to the operation of the jack operation device 7.

[0014] In the mounting area behind the driver's cab 3 in the vehicle body 2, a turntable 12 driven by a swivel motor 14 (see FIG. 11) and configured to be horizontally swiveling around a vertical axis is provided. The base end portion of a boom 13 is attached to the turntable 12 so as to be swingable (up and down freely) in the vertical direction. A boom receiver 8 that abuts against the lower surface of the boom 13 and holds the boom 13 in a retracted state is erected on the vehicle body 2. Note that a boom retraction detector 41, which will be described later, is attached to the upper end side of the boom receiver 8.

[0015] As shown in Figure 3, the boom 13 has a configuration in which the base boom 13a, intermediate boom 13b, and tip boom 13c are nested together in order from the turntable 12 side. The boom 13 can be extended and retracted in the axial direction (longitudinal direction) by the extension and retraction drive of the telescopic cylinder 15 (see Figure 11) provided inside. A luffing cylinder bracket 13d is fixed to the lower surface of the base boom 13a. A luffing cylinder 16 is mounted between this luffing cylinder bracket 13d and the turntable 12, and by driving the extension and retraction of this luffing cylinder 16, the entire boom 13 can be raised and lowered in the upper and lower planes (vertical plane). The rod side end of the luffing cylinder 16 is pivotally connected to the luffing cylinder bracket 13d, and the bottom side end of the luffing cylinder 16 is pivotally connected to the turntable 12. A gripping device storage detector 43, which will be described later, is attached to the lower surface of the luffing cylinder bracket 13d.

[0016] The boom 13 is fitted with an auger support 17 that can be selectively connected to the base boom 13a and the tip boom 13c. As shown in Figure 4, the upper shaft portion 27a of a connecting rod member 27 is pivotally connected to the auger support 17 so as to be able to swing in the left-right direction. An auger device 20 for excavating a pole hole is pivotally connected to the lower shaft portion 27b of the connecting rod member 27 so as to be able to swing in the front-rear direction. The auger device 20 consists of an auger motor section 21 pivotally connected to the lower shaft portion 27b of the connecting rod member 27, and an auger screw (earth auger) 25 that rotates around its axis when the auger motor section 21 is operated. The auger motor section 21 has an auger motor 22 that rotates hydraulically, an auger reducer 23 connected to the output shaft of the auger motor 22, and an auger housing 24 that houses the auger motor 22 and the auger reducer 23. A drive shaft (not shown) of the auger reducer 23 protrudes from the lower end of the auger housing 24, and the upper end of the auger screw 25 is connected to this drive shaft.

[0017] Furthermore, an auger storage device 18 is provided on the side of the base boom 13a to receive the auger screw 25 and hold the auger device 20 in a stored state. The auger device 20 is an auger The auger device 20 is attached to the support 17 via a connecting rod member 27 so as to be able to swing up and down in a vertical plane, and can swing between an deployed state in which the auger device 20 is detached from the auger storage device 18 and the auger screw 25 is hanging down toward the ground (see Figure 4), and a stored state in which the auger device 20 is stored along the side of the base boom 13a by the auger storage device 18 (see Figure 5). The auger storage detector 42, which will be described later, is attached to this auger storage device 18. In the deployed state of the auger device 20, the auger screw 25 is suspended from the tip of the boom 13 so as to be able to swing back and forth and left and right with the two shafts 27a and 27b of the connecting rod member 27 as pivot points, so that it takes a vertical position along the direction of gravity (vertical direction) regardless of the orientation of the boom 13.

[0018] When using the auger device 20, as shown in Figure 3I, the auger support 17 is connected to the tip boom 13c, and the auger device 20, which has been detached from the auger storage device 18, is swung into an unfolded state (with the auger screw 25 in a position approximately perpendicular to the ground). The auger screw 25 is rotated by the rotational drive of the auger motor 22, and the boom 13 is moved linearly downward in conjunction with its lowering and retracting operations, thereby enabling the excavation of pole holes. On the other hand, when the auger device 20 is not in use, as shown in Figure 3II, the auger support 17 is connected to the base boom 13a, and the auger device 20 is held in a stored state along the side of the base boom 13a by the auger storage device 18. When the auger device 20 is in the stored state, various operations such as pole erection and removal of utility poles (indicated by the symbol P in Figure 3; the same applies hereafter) and obstacle relocation can be performed using the gripping device 50 described later. Hereinafter, the boom 13, auger device 20, and gripping device 50 will be collectively referred to as the "working device."

[0019] A boom bracket 19 is fixed to the tip of the boom 13c. A gripping device 50 for gripping objects (columnar objects) such as utility poles or trees is attached to this boom bracket 19. The configuration of this gripping device 50 will be explained with additional reference to Figures 6 to 10. Note that in Figures 9 to 10, the hatching indicating the cross-section has been omitted for clarity. Also, for the sake of explanation, the orientation of the gripping device 50 shown in Figure 6 will be used as the reference point, and the directions of the arrows indicating front / back, left / right, and up / down will be referred to as the front / back direction, left / right direction, and up / down direction.

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

[0021] The arm 51 is pivotally connected to the boom bracket 19 at one end in the axial direction (longitudinal direction) via a connecting pin 52, and its other end in the axial direction (longitudinal direction) is pivotally connected to the first joint member 60 via a connecting pin 53. Arm 51 An arm cylinder 55 is mounted between them. The rod end of the arm cylinder 55 is pivotally connected to the boom bracket 19 via a connecting pin 56. The bottom end of the arm cylinder 55 is Tip side of arm 51 It is pivotally connected to the boom bracket 19 via a connecting pin 57. By extending and retracting this arm cylinder 55, the arm 51 is configured to swing freely (flex and extend freely) in the vertical direction around the connecting pin 52 relative to the boom bracket 19.

[0022] The first joint member 60 is formed in a bifurcated shape with the tip end open, and these two A second joint member 70 is pivotally connected to both ends of the crotch-shaped joint member 60 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 end of the vertical swivel cylinder 62 is pivotally connected to the base end of the arm 51 via a connecting pin 63. The rod end of the vertical swivel cylinder 62 is pivotally connected to the upper end of the first joint member 60 via a connecting pin 64. By extending and retracting this vertical swivel cylinder 62, the first joint member 60 is configured to swing freely (vertically swivel) in the vertical direction around the connecting pin 53 relative to the arm 51.

[0023] The second joint member 70 is supported by the first joint member 60, sandwiched between it from above and below. A lateral swivel cylinder 71 is provided at the upper end of the first joint member 60. The bottom end of the lateral swivel cylinder 71 is pivotally connected to the tip of the first joint member 60, and the rod end is pivotally connected to the rear end of the second joint member 70. By extending and retracting this lateral swivel cylinder 71, the second joint member 70 is configured to swing freely (swivel freely) in the left-right direction around the connecting pin 61 relative to the first joint member 60.

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

[0025] The gripping section 81 comprises a pair of gripping claws 82 and a pair of upper and lower support plates 83 that support the pair of gripping claws 82 so that they can be opened and closed in directions that bring them closer together or further apart (opening and closing directions). The gripping claws 82 are configured to grip various objects (columnar objects) such as utility poles and trees. The base ends of the gripping claws 82 are pivotally connected to the upper and lower support plates 83 via connecting pins 84. The tips of the gripping claws 82 have alternating notches 82a and 82b, and these tips are configured to intersect (overlap) with each other. The support plates 83 are provided with a flat upper bracket 85 for detachably attaching an attachment (not shown) (for example, a tree felling device for felling trees).

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

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

[0028] The opening / closing mechanism 93 comprises a pair of link members 94, a sliding member 95 linked 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 other ends of the pair of link members 94 are also pivotally connected to the tip of the sliding member 95 via a connecting pin 97, with the other ends of each link member 94 overlapping vertically. The sliding member 95 is inserted into the hollow part of the inner cylindrical portion 88 and is mounted so as to be slidable (reciprocal) along the inner circumferential surface of the inner cylindrical portion 88. A slider 98 made of synthetic resin is attached between the outer circumferential surface of the sliding member 95 and the inner circumferential surface of the inner cylindrical portion 88 to guide the sliding (reciprocating) movement of the sliding member 95. The rod-side end of the gripper cylinder 99 is connected to the base end of the sliding member 95. The bottom end of the gripper cylinder 99 is connected to the cylinder bracket portion 92 of the gripper housing 86. When the gripper cylinder 99 is extended, the sliding member 95 slides in the extension direction, causing the link members 94 to swing away from each other. As a result, the gripping claws 82 swing in the opening direction around the connecting pin 84 as a pivot (the gripping claws 82 operate in the opening direction), releasing the grip on the object. On the other hand, when the gripper cylinder 99 is retracted, the sliding member 95 slides in the retraction direction, causing the link members 94 to swing towards each other. As a result, the gripping claws 82 swing in the closing direction around the connecting pin 84 as a pivot (the gripping claws 82 operate in the closing direction), gripping the object. The opening and closing mechanism 93 is configured symmetrically, so the pair of gripping claws 82 open and close symmetrically.

[0029] On the side of the turntable 12 in the vehicle body 2, there is an operator's seat 30 for operating each working device (boom 13, auger device 20, gripping device 50). In front of this operator's seat 30, there is a work operation device 31 that can be operated by an operator while seated. The work operation device 31 includes, although not shown in the figure, a boom rotation and luffing operation lever for rotating and luffing the boom 13, a boom extension and bending operation lever for extending and retracting the boom 13 and bending and extending the arm 51, an auger operation lever for rotating the auger screw 25, a gripping unit vertical swing operation lever for vertical swing operation of the gripping unit 81, a gripping unit horizontal swing operation lever for horizontal swing operation of the gripping unit 81, a gripping unit rotation operation lever for rotating the gripping unit 81, and a gripping unit opening and closing operation lever for opening and closing the gripping unit 81.

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

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

[0032] The hydraulic unit 110 comprises a hydraulic pump 111 that discharges hydraulic fluid and control valves 112 that control the direction and amount of hydraulic fluid supplied from the hydraulic pump 111 to each hydraulic actuator. The hydraulic pump 111 is driven by power taken from the vehicle's engine via a PTO mechanism (not shown). The control valves 112 include 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 luffing cylinder 16, and an electromagnetic proportional control valve corresponding to the auger motor 22. The control valve 112 includes a proportional control valve V4, an electromagnetic proportional control valve V5 corresponding to the arm cylinder 55, an electromagnetic proportional control valve V6 corresponding to the vertical swivel cylinder 62, an electromagnetic proportional control valve V7 corresponding to the horizontal swivel cylinder 71, an electromagnetic proportional control valve V8 corresponding to the gripper motor 79, an electromagnetic proportional control valve V9 corresponding to the gripper cylinder 99, and an electromagnetic proportional control valve V10 corresponding to the jack cylinder 6. Based on command signals from the controller 100, the control valve 112 electromagnetically drives the spools of each electromagnetic proportional control valve V1 to V10 to control the supply direction and amount of hydraulic fluid supplied from the hydraulic pump 111 to each hydraulic actuator, thereby controlling the operating direction and operating speed of each hydraulic actuator (controlling the operating direction and operating speed of the boom 13, auger device 20, gripping device 50, and jack 5).

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

[0034] The boom retraction detector 41 detects whether the boom 13 (boom bracket 19) is placed on the boom support 8 and retracted. This boom retraction detector 41 consists of a limit switch provided at the upper end of the boom support 8 and capable of outputting an on / off signal. When the boom 13 is retracted into the boom support 8, the boom retraction detector 41 turns on when it comes into contact with and is pressed against the lower surface of the boom 13 (boom bracket 19), and outputs an on signal (boom retraction detection signal) to the controller 100 indicating that the boom 13 is in a retracted state. On the other hand, when the boom 13 is not retracted into the boom support 8, the boom retraction detector 41 turns off when it is released from the pressure against the lower surface of the boom 13 (boom bracket 19), and outputs an off signal (boom non-retraction detection signal) to the controller 100 indicating that the boom 13 is not retracted.

[0035] To store the boom 13 in the boom support 8, the boom 13 is retracted to its fully retracted state, then rotated so that it is directly above the boom support 8, and finally lowered so that the boom 13 (boom bracket 19) is placed on the boom support 8. As a result, the boom storage detector 41 detects that the boom 13 (boom bracket 19) has been stored in the boom support 8 and outputs an ON signal (boom storage detection signal) to the controller 100. Note that this boom storage operation is performed with the auger device 20 and gripping device 50 stored in the boom 13.

[0036] The auger storage detector 42 detects whether or not the auger device 20 is stored in the auger storage device 18. This auger storage detector 42 consists of a proximity switch provided in the auger storage device 18 that can output an on / off signal. When the auger device 20 is stored in the auger storage device 18, the auger storage detector 42 turns on when it approaches the shaft portion of the auger screw 25, and outputs an on signal (auger storage detection signal) to the controller 100 indicating that the auger device 20 is in a stored state. On the other hand, when the auger device 20 is not stored in the auger storage device 18, the auger storage detector 42 turns off when it moves away from the shaft portion of the auger screw 25, and outputs an off signal (auger non-stored detection signal) to the controller 100 indicating that the auger device 20 is not in a stored state.

[0037] To store the auger device 20 in the auger storage device 18, the boom 13 is retracted to its fully retracted state, and then a storage rope (not shown) is connected to the auger device 20 and the auger storage device 18. The auger is erected between the two, and the auger motor 22 drives the auger screw 25 to rotate, causing the shaft of the auger screw 25 to rotate while winding up the storage rope. This causes the auger device 20 to swing upward (to a position that is almost parallel to the side of the base boom 13a) and be stored and held in the auger storage device 18. As a result, the auger storage detector 42 detects that the auger device 20 has been stored in the auger storage device 18 and outputs an ON signal (auger storage detection signal) to the controller 100.

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

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

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

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

[0042] The interlock control unit 102 allows the jack 5 to operate (extend and retract) in response to the operation of the jack operating device 7 when it simultaneously receives an ON signal from the boom retraction detector 41 indicating that the boom 13 is retracted (boom retraction detection signal), an ON signal from the auger retraction detector 42 indicating that the auger device 20 is retracted (auger retraction detection signal), and an ON signal from the gripping device retraction detector 43 indicating that the gripping device 50 is retracted (gripping device retraction detection signal). On the other hand, the interlock control unit 102 also allows the jack 5 to operate (extend and retract) in response to the operation of the jack operating device 7 when it simultaneously receives an OFF signal from the boom retraction detector 41 indicating that the boom 13 is not retracted (boom non-retraction detection signal), and an OFF signal from the auger retraction detector 42 indicating that the auger device 20 is not retracted (auger non-retraction detection signal). If either an output signal or an off signal (gripping device non-retraction detection signal) indicating that the gripping device 50 is not retracted is input from the gripping device retraction detector 43, the interlock control unit 102 outputs an operation restriction signal to the operation control unit 101, restricting the operation (extension / retraction) of the jack 5 regardless of the operation of the jack operating device 7. In other words, the interlock control unit 102 allows the operation of the jack 5 when all of the working equipment (boom 13, auger device 20, gripping device 50) are in the retracted state, and restricts the operation of the jack 5 if any one of the working equipment (boom 13, auger device 20, gripping device 50) is not in the retracted state.

[0043] The operation restriction of the jack 5 by the interlock control unit 102 is achieved by imposing operational restrictions on the operation control unit 101, such as preventing the operation control unit 101 from receiving the operation signal even when the jack is operated, or preventing the electromagnetic proportional control valve V10 corresponding to the jack cylinder 6 from being electromagnetically driven even if the operation control unit 101 receives an operation signal based on the jack operation.

[0044] Next, the procedure for the jack 5 retraction control process (interlock process) performed in the safety device of this embodiment will be described. Figure 12 is a flowchart of the jack 5 retraction control process in this embodiment. The jack 5 retraction control process is performed when, for example, work is completed and the vehicle is lifted and supported by each jack 5, the jack 5 is retracted and stored in the vehicle body 2 by operating the jack operating device 7.

[0045] First, the interlock control unit 102 determines whether or not the jack 5 has been retracted (operated to retract the jack 5) based on the operation signal output from the jack operating device 7 (step S101). If the interlock control unit 102 determines that the jack 5 has been retracted (step S101: YES), it determines whether or not the boom 13 is in the retracted state based on the detection signal output from the boom retraction detector 41 (step S102). If the interlock control unit 102 determines that the boom 13 is in the retracted state (step S102: YES), it determines whether or not the auger device 20 is in the retracted state based on the detection signal output from the auger retraction detector 42 (step S103). If the interlock control unit 102 determines that the auger device 20 is in the retracted state (step S103: YES), it determines whether or not the gripping device 50 is in the retracted state based on the detection signal output from the gripping device retraction detector 43 (step S104). If the interlock control unit 102 determines that the gripping device 50 is in the retracted state (step S104: YES), that is, if it determines that all working devices (boom 13, auger device 20, gripping device 50) are in the retracted state, it allows the jack 5 to retract in response to the operation of the jack operating device 7 (step S105). As a result, the operation control unit 101 retracts the jack 5 in accordance with the operation of the jack operating device 7. On the other hand, if the interlock control unit 102 determines that the boom 13 is not in the retracted state (step S102: NO), if it determines that the auger device 20 is not in the retracted state (step S103: NO), or if it determines that the gripping device 50 is not in the retracted state (step S104: NO), it outputs an operation restriction signal to the operation control unit 101 to restrict the retraction operation of the jack 5 (step S106). As a result, even if the jack 5 is retracted (operated to reduce its size) by the jack operating device 7, the retraction of the jack 5 will be restricted until all the working devices (boom 13, auger device 20, gripping device 50) are in their retracted state.

[0046] As described above, the safety device of this embodiment allows the jack 5 to operate only when all working devices (boom, auger device, gripping device) are in the retracted position. This prevents situations where part of the working device protrudes from the vehicle or the vehicle's weight balance is disrupted while driving on the road, thereby improving driving stability and safety. Furthermore, the safety device of this embodiment prevents accidental operation during the operation of each working device (during excavation work, during pole erection work). This prevents the jack 5 from being accidentally retracted, thus improving safety during operation.

[0047] Furthermore, in the safety device of this embodiment, by effectively utilizing the dead space defined in the area below the boom 13 and arranging the gripping device 50 in a retracted state in this dead space, it is possible to secure sufficient space for the gripping device 50 without being constrained by layout limitations in relation to other equipment.

[0048] Furthermore, in the safety device of this embodiment, the gripping device 50 can be stored below the boom 13 regardless of the lateral swing position of the gripping portion 81, making it easier to store the gripping device 50 and improving work efficiency.

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

[0050] It should be noted that the present invention is not limited to the embodiments described above, and can be appropriately improved without departing from the spirit of the invention.

[0051] In the above embodiment, the gripping device storage detector 43 is provided on the lower surface of the luffing cylinder bracket 13d, but the configuration is not limited to this, and for example, the gripping device storage detector 43 may be directly provided on the lower surface of the boom 13. Alternatively, a sensor bracket may be provided on the lower surface of the boom 13, and the gripping device storage detector 43 may be provided on this sensor bracket. Furthermore, in the above embodiment, the gripping device storage detector 43 detected the first joint member 60 as the stored state of the gripping device 50, but the configuration is not limited to this, and for example, the gripping device storage detector 43 may be configured to detect the arm 51, the second joint member 70, the gripping part 81, etc., as the stored state of the gripping device 50. Alternatively, the gripping device storage detector 43 may be provided on the boom bracket 19 or the arm 51 to detect when the arm 51 is folded and stored relative to the boom bracket 19. Note that the gripping device storage detector 43 is not limited to a proximity switch, and may be other detectors such as a limit switch.

[0052] In the above embodiment, the gripping device 50 is stored below the boom 13, so that the stored gripping device 50 and the stored boom 13 are in a positional relationship that overlaps in the vertical direction. However, the configuration is not limited to this, and for example, the gripping device 50 may be stored on the right side of the boom 13 (one side in the width direction of the boom 13), and the auger device 20 may be stored on the left side of the boom 13 (the other side in the width direction of the boom 13), so that the stored gripping device 50 and the stored auger device 20 are in a positional relationship that overlaps in the left-right direction (width direction of the boom 13) with the boom 13 in between. According to this modified example, the weight balance of the entire work apparatus (weight balance in the vehicle width direction) is equalized, and the driving stability of the vehicle can be further improved.

[0053] In the above embodiment, the work operation device 31 or the jack operation device 7 may be equipped with notification means (for example, an LED lamp or a buzzer) to notify whether or not each work device (boom 13, auger device 20, gripping device 50) is in a retracted state, thereby prompting the worker to retract each work device (boom 13, auger device 20, gripping device 50).

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

[0055] Furthermore, while the above embodiment illustrates a PTO-driven hole-digging and pole-erecting vehicle that uses a PTO (power take-off) mechanism to extract engine power and drive a hydraulic pump, the configuration is not limited to this. An electric-driven (battery-driven) hole-digging and pole-erecting vehicle or a hybrid vehicle equipped with both, which selectively switches the power source, may also be used. [Explanation of Symbols]

[0056] 1 Gripping type hole digging pole erecting vehicle 2 car bodies 5. Jack (Jacking device) 7. Jack operating device 8. Boom 12 Turntable 13 Boom 18 Auger storage device 20 Auger devices 25 Earth Auger 31 Work operation device 41 Boom retraction detector 42 Auger storage detector 43 Gripping section storage detector 50 Gripping device 51 Arm 55 Arm Cylinder 60 First joint member 62 Vertical Swivel Cylinder 70 Second joint member 71. Swivel cylinder 79 Gripper Motor 80 Grippa 81 Gripping part 99 Gripper Cylinder 100 controllers 101 Operation Control Unit 102 Interlock control unit

Claims

1. A boom mounted on the vehicle body that can be raised and lowered and extended, An auger device is provided on the boom so as to be swingable for performing excavation work, A gripping device having a gripping portion capable of gripping an object, and a support mechanism provided at the tip of the boom for changing the orientation of the gripping portion relative to the tip, A jacking device is provided on the vehicle body so as to be extendable and retractable and is used to lift and support the vehicle body. A work operation device for operating the boom, the auger device, and the gripping device, A jack operating device for operating the jack device, A work control unit that controls the operation of the boom, the auger device and the gripping device in accordance with the operation of the work operation device, A jack control unit controls the operation of the jack device in accordance with the operation of the jack operating device, A boom retraction detector that detects when the boom is retracted relative to the vehicle body, An auger storage detector that detects when the auger device is stored on one of the left or right sides of the boom, The system includes a gripping device storage detector that detects when the gripping device is stored relative to the boom, The jack control unit, when the boom storage detector detects the storage state of the boom, the auger storage detector detects the storage state of the auger device, and the gripping device storage detector detects the storage state of the gripping device, allows the jack device to operate in response to the operation of the jack operating device. The safety device for a gripping-type hole-digging and pole-erecting vehicle is characterized in that the storage position of the gripping device is set on the lower side of the boom and overlaps with the boom in the vertical direction, or on the other side of the left and right sides of the boom and overlaps with the auger device in the left and right direction, with the boom in between.

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

3. A boom mounted on the vehicle body that is capable of raising and lowering and extending, An auger device is provided on the boom so as to be swingable for performing excavation work, A gripping device having a gripping portion capable of gripping an object, and a support mechanism provided at the tip of the boom for changing the orientation of the gripping portion relative to the tip, A jacking device is provided on the vehicle body so as to be extendable and retractable and is used to lift and support the vehicle body. A work operation device for operating the boom, the auger device, and the gripping device, A jack operating device for operating the jack device, A work control unit that controls the operation of the boom, the auger device and the gripping device in accordance with the operation of the work operation device, A jack control unit controls the operation of the jack device in accordance with the operation of the jack operating device, A boom retraction detector that detects when the boom is retracted relative to the vehicle body, An auger storage detector that detects when the auger device is stored relative to the boom, The system includes a gripping device storage detector that detects when the gripping device is stored relative to the boom, The jack control unit, when the boom storage detector detects the storage state of the boom, the auger storage detector detects the storage state of the auger device, and the gripping device storage detector detects the storage state of the gripping device, allows the jack device to operate in response to the operation of the jack operating device. The support mechanism includes an arm provided at the tip of the boom that is capable of bending and extending in a vertical plane, a vertical swivel mechanism provided at the tip of the arm that causes the gripping portion to swing in the vertical plane, and a horizontal swivel mechanism provided at the tip of the arm that causes the gripping portion to swing in a plane perpendicular to the vertical plane. The gripping device is configured to be retractable relative to the boom, regardless of the lateral pivot position of the gripping portion, and is a safety device for a gripping-type hole-digging and pole-erecting vehicle.

4. The gripping portion has a pair of openable and closable gripping claws for gripping an object, The support mechanism has a rotation mechanism that causes the gripping portion to rotate around a rotation axis perpendicular to the opening and closing direction of the pair of gripping claws. The safety device for a gripping-type hole-digging and pole-erecting vehicle according to claim 3, characterized in that the gripping device is configured to be retractable relative to the boom regardless of the rotational position of the gripping portion.

Images