JP7596985B2 - Mobile Device - Google Patents

Description

The present invention relates to a mobile device that moves through the air using overhead wires.

Patent document 1 discloses a stay saddle that supports stays and tow ropes in the track of a double-track cableway, and that has a side support that receives the stay rope when it comes off.

JP 2016-141177 A

When the overall length of the main rope is increased, the possibility of the main rope pulley attached to the main rope becoming detached increases. Therefore, if a means is provided to restrict the movement of the main rope relative to the main rope pulley to prevent the main rope pulley from becoming detached, there is a risk that the restricting means will wear down with the main rope.

The objective of the present invention is to provide a technology that prevents the main rope pulley from coming off the main rope while suppressing wear on the main rope.

In order to solve the above problems, one aspect of the present invention is a moving device that is movable in the air by a main rope fixed at both ends and a working rope movably supported on the main rope, and includes a main rope pulley having a recess on its outer periphery that engages with the main rope from above , a pair of support wall sections arranged opposite each other to sandwich the main rope pulley and rotatably supporting the main rope pulley, a first regulating roller that regulates the movement of the main rope in the direction of the rotation axis of the main rope pulley, and a second regulating roller that is rotatably supported on the pair of support wall sections and regulates from below the movement of the main rope in the direction out of the recess.

The present invention provides a technology that prevents the main rope pulley from coming off the main rope while reducing wear on the main rope.

FIG. 1 is a diagram for explaining a system using overhead lines. FIG. 2 is a perspective view of a moving device attached to a catenary system. FIG. 4 is a partial enlarged view of the first moving device as viewed from a direction along the first main rope. FIG. 4 is a partial enlarged view of the first moving device as viewed from below. 11A and 11B are diagrams for explaining the operation of a joint portion.

Figure 1 is a diagram for explaining the overhead line utilization system 1. The overhead line utilization system 1 includes a first support 10a, a second support 10b, a third support 10c, and a fourth support 10d (referred to as "supports 10" when not distinguished), a first main rope 12a, a second main rope 12b (referred to as "main ropes 12" when not distinguished), a first working rope 14a, a second working rope 14b (referred to as "work ropes 14" when not distinguished), a first hoisting rope 15a, a fourth hoisting rope 15b (referred to as "hoisting ropes 15" when not distinguished), a first moving device 16a, a second moving device 16b (referred to as "moving device 16" when not distinguished), a suspension device 18, a gripping device 19, a guide pulley 22, and a hoisting device 24.

The overhead line system 1 is a so-called H-shaped overhead line system that can lift trees 20 cut down in a forest with a main rope 12, a work rope 14, and a hoisting rope 15 (these ropes are called overhead lines) stretched in the air and transport them to the vicinity of a timber collection site 26. This makes it possible to transport trees 20 from the forest without building roads.

The four posts 10 are erected at locations suitable for installation, determined based on the arrangement of standing trees and the location of the lumber collection site 26. The posts 10 are set to a size of approximately 5 to 10 meters depending on the size of the overhead line utilization system 1, etc.

The main ropes 12, working ropes 14 and hoisting ropes 15 are fixed to the support 10 as overhead lines or hung on pulleys of the support 10. The first main rope 12a is fixed to the first support 10a and the second support 10b, and the second main rope 12b is fixed to the third support 10c and the fourth support 10d, and function as rails in the air. The fixed position of the main ropes 12 may be fixed to the ground near the support 10 via the support 10. The first main rope 12a and the second main rope 12b are arranged so as not to cross each other. The length of the main ropes 12 is about 300 to 2000 meters.

The working rope 14 and the hoisting rope 15 function as moving ropes that are wound up by the hoisting device 24, and move the moving device 16 and the hoisting device 18. The working rope 14 is used to move the moving device 16, and the hoisting rope 15 is used to move the hoisting device 18 between the main ropes 12.

The first working rope 14a and the second working rope 14b are hung on a pulley provided on the support 10, one end is connected to the moving device 16, and the other end is connected to the hoisting device 24. The first working rope 14a includes a working rope connected from the hoisting device 24 to the first moving device 16a via the second support 10b, the first moving device 16a, and the first support 10a, and a working rope connected to the first moving device 16a via the second support 10b. In other words, one side of the first working rope 14a passes from the second support 10b through the first moving device 16a and turns back at the first support 10a to be fixed to the first moving device 16a, and the other side of the first working rope 14a passes from the second support 10b through the first moving device 16a and is fixed directly to the first moving device 16a.

The second working rope 14b includes a working rope connected from the hoisting device 24 to the second moving device 16b via the fourth support 10d, the second moving device 16b, and the third support 10c, and a working rope connected to the second moving device 16b via the fourth support 10d. In other words, one side of the second working rope 14b passes from the fourth support 10d through the second moving device 16b and turns back at the third support 10c to be fixed to the second moving device 16b, and the other side of the second working rope 14b passes from the fourth support 10d through the second moving device 16b and turns back at the third support 10c to be fixed to the second moving device 16b, and the other side of the second working rope 14b passes from the fourth support 10d directly to the second moving device 16b.

The first winding rope 15a is fixed to the first support 10a from the winding device 24 via the second support 10b, the first moving device 16a, the hanging device 18, and the first moving device 16a. In other words, the first winding rope 15a is bent from the second support 10b to the first moving device 16a, folded back at the hanging device 18, bent again at the first moving device 16a, and connected to the first support 10a. The fourth winding rope 15b is fixed to the third support 10c from the winding device 24 via the fourth support 10d, the second moving device 16b, the hanging device 18, and the second moving device 16b. In other words, the fourth winding rope 15b is bent from the fourth support 10d to the second moving device 16b, folded back at the hanging device 18, bent again at the second moving device 16b, and connected to the second support 10b.

The pair of moving devices 16 are supported by the pair of main ropes 12, respectively, and can move along the main ropes 12. The hanging device 18 is connected to the gripping device 19 by a lifting wire, and suspends the gripping device 19. The hanging device 18 may be provided with a position detection device that detects the position information of the hanging device 18 using a satellite positioning system. The gripping device 19 can grip a tree 20. The guide pulley 22 changes the direction of the hanging work rope 14.

The hoisting device 24 functions as a winch that winds up the working rope 14 and the hoisting rope 15, respectively, and has a drum and a drive source that winds up or down the working rope 14 and the hoisting rope 15, respectively.

The operation of the overhead line utilization system 1 will now be described. The hoisting device 24 moves the first moving device 16a along the first main rope 12a by winding up one side of the first working rope 14a and winding down the other side. The hoisting device 24 also moves the second moving device 16b along the second main rope 12b by winding up one side of the second working rope 14b and winding down the other side. This causes the suspension device 18 to displace in a direction along the main rope 12.

Next, the movement of the suspension device 18 in the opposing direction of the first main rope 12a and the second main rope 12b will be described. When the hoisting device 24 hoists one of the first hoisting rope 15a and the fourth hoisting rope 15b and lowers the other, the distance from the first moving device 16a to the suspension device 18 and the distance from the second moving device 16b to the suspension device 18 change, and the suspension device 18 displaces between the first moving device 16a and the second moving device 16b. By combining the winding up and lowering of the working rope 14 and the hoisting rope 15 in this way, the suspension device 18 can move horizontally within the area surrounded by the four pillars 10.

In the embodiment of the overhead line utilization system 1 shown in FIG. 1, the working rope 14 and the hoisting rope 15 are bundled together and wound up by the hoisting device 24, but this is not limited to this embodiment. For example, a hoisting device that hoists one working rope 14 may be provided for each support 10. This eliminates the need to fold the working rope 14 back and extend it to the hoisting device 24, shortening the overall length of the working rope 14 and reducing the load on the support 10. In addition, a hoisting device may be provided near each of the third support 10c and the fourth support 10d. In this way, the hoisting device may be integrated or separate. In addition, the arrangement of the overhead line is not limited to this embodiment, and the working rope 14 and the hoisting rope 15 may be shared, and the number of working ropes 14 and the hoisting ropes 15 may be four, not just six.

A control device (not shown) that enables remote control of the hoisting device 24, the hoisting device 18, and the gripping device 19 is provided in the control room. The moving device 16, the hoisting device 24, the hoisting device 18, and the gripping device 19 can communicate with the control device. The control device is provided with an input unit such as a touch panel or a mechanical controller that accepts operations by a worker. The control of moving the moving device 16 and the hoisting device 18, the control of lowering the gripping device 19, and the control of gripping the tree 20 may be performed by a pre-installed program, or may be performed by a worker operating the control device. In addition, the control of the overhead line utilization system 1 may be a combination of a program and the operation of a worker. For example, the control of moving the moving device 16 and the hoisting device 18 to a target position may be performed by a program, and the control of lowering the gripping device 19 to grip the tree 20 may be performed by a worker's operation. For example, a worker controls the device by viewing images sent from cameras installed on the hanging device 18 and the gripping device 19.

FIG. 2 is a perspective view of the first movement device 16a attached to the overhead line utilization system 1. FIG.
The first moving device 16a includes a hanging device 32, a main rope pulley 34, a support wall portion 36, a first regulating roller 38, a frame 40, a working rope support portion 42, a joint portion 44, a working rope fixing portion 46, and a second regulating roller (not shown). The frame 40 has a flat seating surface extending in a substantially horizontal direction.

A pair of main rope pulleys 34 are provided and engage with the first main rope 12a from above the first main rope 12a. A pair of support walls 36 are erected from the frame 40 and provided on each of the main rope pulleys 34, and are arranged opposite each other so as to sandwich the main rope pulley 34. The support walls 36 rotatably support the main rope pulley 34. By arranging the support walls 36 so as to sandwich the main rope pulley 34, the axial vibration of the main rope pulley 34 can be suppressed. By engaging the pair of main rope pulleys 34 with the first main rope 12a from above, the load of the first moving device 16a can be applied to the first main rope 12a without applying it to the first working rope 14a. The main rope pulley 34 rotates on the first main rope 12a when the first moving device 16a moves, allowing the first moving device 16a to move smoothly.

The first regulating rollers 38 sandwich the first main rope 12a between a pair of rollers and guide the first main rope 12a to the main rope pulley 34. The first regulating rollers 38 stand upright from the frame 40 and regulate the movement of the main rope pulley 34 in the rotation axis direction by the first main rope 12a. The first regulating rollers 38 make it difficult for the first main rope 12a to come out of the groove of the main rope pulley 34. The first regulating rollers 38 are each positioned on the outside of the pair of main rope pulleys 34, i.e., on the outside of the first moving device 16a, in the direction along the first main rope 12a.

The working rope support part 42 supports the folded first working rope 14a1 so that it can move. The working rope support part 42 clamps the first working rope 14a1 with a pair of rollers to regulate the vertical movement of the first working rope 14a. The working rope fixing part 46 fixes the folded first working rope 14a1. The first working rope 14a2 passes from the hoisting device 24 through the second support 10b and is fixed to the first moving device 16a without passing through the first support 10a.

The suspending device 32 has a pair of pulleys and engages with the first hoisting rope 15a to change the direction of the first hoisting rope 15a. The first hoisting rope 15a changes the direction of the first hoisting rope 15a extending from the second support 10b to a direction perpendicular to the first main rope 12a, and changes the direction of the first hoisting rope 15a folded back from the hanging device 18 toward the first support 10a.

The joint part 44 connects the frame 40 and the suspending device 32. The joint part 44 supports the suspending device 32 so that it can swing. The joint part 44 has a first rotating shaft part 44a and a second rotating shaft part 44b that allow the suspending device 32 to swing in two directions.

Figure 3 is a partially enlarged view of the first moving device 16a seen from a direction along the first main rope 12a. Figure 3 shows the first main rope 12a engaged with the main rope pulley 34. The main rope pulley 34 is rotatably supported on the rotation shaft 36a of the support wall portion 36.

The main rope pulley 34 has a recess 34a formed on the outer periphery and outer periphery ends 34b located on both sides of the recess 34a. The pair of outer periphery ends 34b protrude radially outward and are formed around a ring. The recess 34a is formed between the pair of outer periphery ends 34b so as to be recessed toward the rotation axis.

The first main rope 12a is inserted into the recess 34a below the main rope pulley 34 and is positioned so as not to extend radially outward from the outer circumferential end 34b. The second regulating roller 48 is rotatably supported on the rotation shaft 36b provided on the support wall portion 36 and is supported on the rotation shaft 36b parallel to the rotation shaft 36a of the main rope pulley 34. The second regulating roller 48 is located below the main rope pulley 34 and abuts or is close to the first main rope 12a. The second regulating roller 48 enters the recess 34a and enters the radial inside of the main rope pulley 34 more than the outer circumferential end 34b. This makes it possible to restrict the first main rope 12a from moving radially outward from the main rope pulley 34, and to restrict the movement of the first main rope 12a in the direction of exiting the recess 34a of the main rope pulley 34. In addition, the second regulating roller 48 and the recess 34a can regulate the movement of the first main rope 12a in the vertical direction and in the direction of the rotation axis 36a. In addition, because the second regulating roller 48 is rotatable, wear on the first main rope 12a can be reduced.

Figure 4 is a partially enlarged view of the first moving device 16a seen from below. Figure 3 shows the state in which the first main rope 12a is engaged with the main rope pulley 34 from below, excluding the frame 40. The first regulating roller 38 has a pair of rotatable roller members 38a. The rotation axis of the roller members 38a is arranged perpendicular to the direction along the first main rope 12a and perpendicular to the rotation axis of the main rope pulley 34. Because the roller members 38a are rotatable, wear when the first main rope 12a hits them can be reduced.

The first regulating roller 38 is positioned near the main rope pulley 34, and is positioned so that the distance between the first main rope 12a and the main rope pulley 34 is shorter than the radius of the main rope pulley 34. The first main rope 12a is sandwiched between a pair of roller portions 38a, and movement in the direction of the rotation axis of the main rope pulley 34 is regulated. This makes it possible to limit the angle of the first main rope 12a toward the main rope pulley 34, and to prevent the first main rope 12a from entering the recess 34a at an angle. The first regulating roller 38 and the recess 34a can distribute the load in the direction of the rotation axis of the main rope pulley 34.

Figure 5 is a diagram for explaining the operation of the joint part 44. The joint part 44 has a first rotating shaft part 44a and a second rotating shaft part 44b that are perpendicular to each other, and allows the suspending device 32 to swing in two directions.

Figure 5 (a) shows the suspension device 32 swinging on the first rotating shaft 44a. The first rotating shaft 44a is a rotating shaft in a direction along the first main rope 12a, and can tilt the suspension device 32 inward in the opposing direction of the first main rope 12a and the second main rope 12b.

When the gripping device 19 has lifted the tree 20, a large load is applied to the hanging device 18, and the moving device 16 is pulled inward in the opposing direction of the first main rope 12a and the second main rope 12b. At this time, the hanging device 32 rotates by the first rotating shaft portion 44a, preventing the main rope pulley 34 from tilting. This prevents the main rope pulley 34 from coming off the main rope 12 due to the tensile load of the hanging device 18.

Figure 5 (b) shows the suspending device 32 swinging on the second rotating shaft 44b. The second rotating shaft 44b is a rotating shaft along which the first main rope 12a and the second main rope 12b face each other, and is aligned with the rotating shaft 36a of the main rope pulley 34. Because the total length of the main ropes 12 is very long, the main ropes 12 do not remain straight, but are curved and bent. Therefore, the moving device 16 changes the inclination angle depending on the position of the main ropes 12, and also changes the inclination angle depending on the load change of the suspension device 18. On the other hand, since the moving device 16 is pulled by the hanging device 18, this can cause the main rope pulley 34 to come off and damage the first regulating roller 38 and the second regulating roller 48. However, by tilting the hanging device 32 with the first rotating shaft portion 44a and the second rotating shaft portion 44b, it is possible to prevent the main rope pulley 34 from coming off and reduce the load on the first regulating roller 38 and the second regulating roller 48.

By providing the suspending device 32 with a swingable configuration, the first and second regulating rollers 38 and 48 are prevented from coming into strong contact with the main ropes 12, reducing wear on the main ropes 12. In addition, the strength required for the first and second regulating rollers 38 and 48 can be reduced, making the moving device 16 lighter. Note that the second moving device 16b has a similar configuration to the first moving device 16a, so a description of it will be omitted.

The present invention has been described above based on the embodiments. The embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of each component and each processing process, and that such modifications are also within the scope of the present invention.

In the embodiment, the gripping device 19 grips the tree, but this is not limited to the above. For example, an inspection device that detects the condition of the tree may be suspended from the suspension device 18. Also, a cutting device that cuts the tree may be suspended from the suspension device 18. In this way, the operating device suspended from the suspension device is not limited to the gripping device 19, but is a device that performs a predetermined operation and can be replaced depending on the application.

1 Catenary utilization system, 10a First support, 10b Second support, 10c Third support, 10d Fourth support, 12a First main rope, 12b Second main rope, 14a First working rope, 14b Second working rope, 15a First top winding rope, 15b Fourth top winding rope, 16a First moving device, 16b Second moving device, 18 Suspension device, 19 Gripping device, 22 Guide pulley, 24 Hoisting device, 32 Suspension device, 34 Main rope pulley, 34a Recess, 34b Outer periphery, 36 Support wall, 36a, 36b Rotating shaft, 38 First regulating roller, 38a Roller section, 40 Frame, 42 Working rope support section, 44 Joint section, 44a: first rotating shaft portion, 44b: second rotating shaft portion, 46: working rope fixing portion, 48: second regulating roller.

Claims (3)

A moving device that is movable in the air by a main rope having both ends fixed and a working rope movably supported on the main rope,
A main rope pulley having a recess on its outer periphery that engages with the main rope from above ;
A pair of support walls arranged opposite to each other so as to sandwich the main rope pulley and rotatably supporting the main rope pulley;
A first regulating roller that regulates the movement of the main rope in the direction of the rotation axis of the main rope pulley;
a second regulating roller that is rotatably supported by the pair of support wall portions and that regulates the movement of the main rope in the direction of exiting the recess from below . The housing further includes a frame on which the pair of support walls are erected,
2. The moving device according to claim 1, wherein the first regulating roller stands upright on the frame. a suspension device having a pulley that engages with the hoisting rope;
a joint portion that connects the frame and the suspending device,
3. The moving device according to claim 2, wherein the joint portion has a first rotating shaft portion and a second rotating shaft portion that allow the suspending device to swing in two directions.

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