JPH0578509B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention, for example, expands and contracts a plurality of telescopic booms such as civil engineering construction equipment and aerial work vehicles, and This invention relates to a boom extension mechanism that can change its length.

[Conventional technology]

BACKGROUND ART Conventionally, construction mechanisms, civil engineering machinery, etc. have often adopted mechanisms that are used for various purposes by extending and contracting a plurality of telescopic booms to change their overall length. For example, telescopic boom devices were used in aerial work vehicles for lifting buckets to high places and deep hole drilling equipment for digging deep holes into the ground.

[Problem to be solved by the invention]

By the way, when working in urban areas with a work vehicle equipped with this type of telescopic boom device configured to be extendable and retractable, it is necessary to set the long boom when working from a standby position before starting work. When moving to the working position or vice versa, the upper end of the boom moves in a semicircle around the fulcrum of the arm that supports the boom. For this reason, there has been a problem in urban areas where the boom comes into contact with electric wires, cutting them and causing power outages.

The present invention has been made in view of these circumstances, and provides a method for moving the boom so that the upper end of the boom does not exceed a certain height from the ground surface when moving the boom from a standby position to a working position or vice versa. It is an object of the present invention to provide a boom extension and contraction mechanism configured to be telescopically extendable and retractable.

[Means for solving problems]

The boom extension/retraction mechanism of the present invention includes a boom configured to telescopically insert a plurality of booms having different outer diameters and extend/retract by synchronizing each boom, an arm for telescopically supporting the boom, and an arm for supporting the boom in a telescopic manner. a first drive means for adjusting the elevation angle; a second drive means for adjusting the angle formed between the boom and the arm; and a third drive means for moving the entire boom forward and backward in the length direction.
a drive means, and a first drive means configured to draw a trajectory such that the upper end of the boom does not exceed a certain height from the ground surface when moving the boom and arm from the standby position to the work position or from the work position to the standby position. , and control means for cooperatively operating the second and third drive means.

[Effect]

In the boom extension and retraction mechanism having the above configuration, the arm 4 is operated by the hydraulic cylinder 5 as the first driving means.
The elevation angle of the arm 4 is adjusted, and the arm 4 is vertically swung according to the adjusted angle. Further, the angle between the boom 10 and the arm 4 is adjusted by a hydraulic cylinder 8 serving as a second driving means, and the boom 10 is swung up and down in accordance with this angle. Furthermore, the boom 1 is driven by a hydraulic motor 22 as a third drive means.
0 is driven so as to be moved forward and backward in its length direction.

These first, second, and third drive means are controlled by a central control circuit 58 as a control means when moving the boom and arm from the standby position to the work position or from the work position to the standby position. They are operated in a coordinated manner to draw a trajectory that does not exceed a certain height above the surface.

Therefore, when moving the long boom from the standby position to the working position or vice versa, it is possible to prevent the upper end of the boom from coming into contact with electric wires or the like in urban areas or the like.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

In this embodiment, a deep hole excavation device is used to drill a vertical deep hole from the ground surface to insert a pile or the like.

Caterpillars 2 are wrapped around the left and right sides of the vehicle body 1, and the caterpillars 2 support the vehicle body 1.
can move freely forward, backward, left and right. A workbench 3 is installed on the top of this vehicle body 1 so that it can freely rotate 360 degrees in the horizontal direction.
An arm 4 bent into a dogleg shape is pivotally supported on the upper front surface of the workbench 3 so as to be able to swing vertically. The center of this arm 4 and the workbench 3
A hydraulic cylinder 5 for adjusting the elevation angle is interposed between the front surface and the front surface. A guide body 6 having a slightly rectangular opening formed therethrough is rotatably connected to the tip of the arm 4 by a pin 7. A hydraulic cylinder 8 for angle adjustment is interposed between the arm 4 and the guide body 6, and an operating mechanism 9 containing a hydraulic motor and the like is mounted and fixed on the upper surface of the guide body 6. An elongated linear boom 10 with a rectangular cross section is inserted through the opening formed through the guide body 6 so that it can move forward and backward in the length direction. A clamshell bucket tote 11 is connected to the lower end of the boom 10 by a pin 12.

Next, FIG. 2 shows the internal structure of the actuation mechanism 9, and a portion thereof is shown as a skeleton.

A shaft 20 is rotatably supported in the operating mechanism 9 parallel to the surface of the guide body 6. A pinion 21 is fixed to the center of the shaft 20, and a hydraulic motor is attached to one end of the shaft 20. 22 are connected. A rack 23 is fixed to the center of the upper surface of the boom 10 along its length, and the rack 23 and the pinion 21 are meshed with each other.

Next, FIGS. 3 and 4 show the internal structure of the boom 10.

This boom 10 is composed of a main boom 31, a middle boom 32, and a front boom 33, each having a different outer diameter.A middle boom 32 is slidably inserted into the inside of the original boom 31. A tip boom 33 is slidably inserted into the inside of the boom 32 . A pulley 34 is pivotally supported at the tip of the middle boom 32 (left side in the figure), and one end is connected to the former boom 3.
The tuning wire 35 connected to the bottom of 1 is changed direction by this pulley 34, and the tuning wire 35
The other end is connected to the bottom of the tip boom 33.
Further, a pulley 36 is pivotally supported at the rear end of the middle boom 32 (on the right side in the figure).
6 is a tuning wire 3 whose one end is connected to the tip of the former boom 31 and the other end is connected to the rear end of the tip boom 33.
7 is wound around.

A mount 38 is fixed to the center of the interior of the front boom 33, and a hydraulic cylinder 39 is fixed to the mount 38. The hydraulic cylinder 39 is provided with a cylinder rod 40 that can be moved forward and backward by hydraulic pressure, and the axis of the cylinder rod 40 is located parallel to the axis of the front boom 33. Pulleys 41 and 42 are pivotally supported at both ends of the cylinder rod 40, respectively.
Pulleys 43 and 44 are pivotally supported inside the tip and rear ends of the front boom 33, respectively. One end of the retracting wire 45 is attached to the tip boom 33.
The wire 45 is connected to the front end of the middle boom 32, and is reversed by a pulley 41, and then reversed by a pulley 44, and the other end of the lead-in wire 45 is connected to the inner rear end of the middle boom 32. Also,
A pulley 46 is pivotally supported at the lower part of the rear end of the front boom 33, and the tip of an extrusion wire 47 is connected to the inner rear end of the front boom 33, and is reversed by the pulley 42 and rotated by the pulley 44.
Further, its direction is changed by a pulley 46 and pulled out to the outside of the front boom 33 , and the other end of this extrusion wire 47 is connected to the front end of the middle boom 32 .

Next, FIG. 5 shows the hydraulic control system in this embodiment.

The oil tank 51 that stores pressure oil is the hydraulic pump 5
This hydraulic pump 52 is connected to the suction side of
is operated by a prime mover 53. A switching valve circuit 5 is provided on the discharge side of the hydraulic pump 52.
4, 55, 56, 57, respectively, and the discharge side of each switching valve circuit 54, 55, 56 is collected in the oil tank 51. The hydraulic cylinder 39 is connected to the switching valve circuit 54, the hydraulic cylinder 8 is connected to the switching valve circuit 55, the hydraulic cylinder 8 is connected to the switching valve circuit 56, and the switching valve circuit 55 is connected to the hydraulic cylinder 8. The hydraulic motor 22 is connected to the valve circuit 57. The output of the central control circuit 58 containing a microcomputer etc. is independently transmitted as a control signal to the switching valve circuits 54, 55, 56, and 57, respectively, and the operation for controlling the drive of the arm 4 and the boom 10 is performed. The output of the device 59 is transmitted to the central control circuit 58.

Next, the operation of this embodiment will be explained.

When the hydraulic pump 52 is operated by the prime mover 53, the pressure oil sucked from the oil tank 51 is transmitted to switching valve circuits 54, 55, 56, and 57, respectively. Here, when a button on the operating device 59 that swings the arm 4 upward or downward is operated, the central control circuit 58 determines the operation command,
Each switching valve circuit 55, 56, 57 is controlled at appropriate timing. That is, the oil discharged from the hydraulic pump 52 is supplied to the hydraulic cylinders 5 and 8 and the hydraulic motor 22 at appropriate timings. As a result, the arm 4 is swung up and down by the hydraulic cylinder 5, and at the same time, the hydraulic cylinder 8 is activated, so that the guide body 6 rotates about the pin 7 with respect to the arm 4, and the boom 10 is moved up and down. It will make it oscillate. When the hydraulic motor 22 housed in the operating mechanism 9 is operated, the shaft 20 is rotated and the pinion 21 is rotated, thereby moving the rack 23 and the boom 10 in the length direction of the guide body 6.

These three hydraulic operating mechanisms (hydraulic cylinder 5,
8. By operating the hydraulic motors 22) in coordination with each other, the clam shell bucket 11 is lowered from above the ground toward the position where the hole is to be drilled. Clam Ciel Bucket 11 removes earth and sand,
When the hole becomes deep, the boom 10 is moved within the guide body 6 by the hydraulic motor 22 to feed the clam shell bucket 11 to a deep position. In the operation of moving the clam shell bucket 11 below the ground, the hydraulic cylinders 5 and 8 and the hydraulic motor 22 can be operated in coordination with the calculation function set in the central control circuit 58. The upper end of the boom 10 does not rotate in a semi-circular trajectory around the pin 7, but can be controlled by drawing a gentle hill-shaped arc.

Therefore, as shown in Fig. 6, the positions of arm 4A and boom 10A in the standby state are as shown by solid lines, and in position 4B, where arm 4 is tilted slightly downward, boom 10B is slightly slanted. and is moved slightly downward by the hydraulic motor 22. When the arm 4 further moves downward and the boom 10 reaches the working position (4C), the boom 10C is positioned vertically, and in this state, the hydraulic cylinders 5,
8 are not operated, only the hydraulic motor 22 is operated, and the boom 10 can be moved downward along the guide body to excavate a hole at a deep position. Here, when the boom 10 moves from the standby position 10A to the working position 10C, the hydraulic cylinders 5 and 8 and the hydraulic motor 22 are driven based on control signals from the central control circuit 58, and the boom 10 The arm 4 and the boom 10 are driven so as to draw an arcuate trajectory X such that the upper end of the boom does not exceed a certain height from the ground surface. Through the above-described operation, the hole is dug one by one by the clam shell bucket 11, and even if the boom 10 is moved by the actuating mechanism 9, the hole is dug so deep that the clam shell bucket 11 does not reach the bottom of the hole. When the boom 10 is worn out, the entire length of the boom 10 can be extended and the clamshell bucket 11 can be pushed further downward.

In this case, when the button in the extending direction of the operating device 59 is pressed, the control signal is determined by the central control circuit 58, operates the switching valve circuit 54, and operates the hydraulic cylinder 3.
Supply pressure oil to 9. Then, the middle boom 32 and the front boom 33 are pushed out from the main boom 34 compared to the state in which the boom 10 is contracted in the state shown in FIG.

That is, when the hydraulic cylinder 39 is actuated, the cylinder rod 40 moves in the direction B in the figure, and the pulley 42 is moved, thereby shortening the length of the push-out wire 47 and pulling it into the front boom 33. For this reason, the previous boom 33
is pulled out from the middle boom 32 and moves to the left in FIGS. 3 and 4.

When the front boom 33 is pulled out from the middle boom 32, the tuning wire 37 connected to the rear end of the front boom 33 moves, and while rotating the pulley 36, the middle boom 32 is moved to the left in the figure with respect to the main boom 31. It acts like pushing out. Therefore, when the hydraulic cylinder 39 is activated and the cylinder rod 40 moves in the direction B in the figure, the front boom 33 and the middle boom 32 act simultaneously, and each moves to the left in the figure at the same movement speed. . As a result, the boom 10 is telescopically extended and changes from the state shown in FIG. 3 to the state shown in FIG. 4, increasing its overall length. Therefore, the clamshell bucket 11 attached to the tip of the front boom 33 is pushed down to a deeper position in the dug hole.

Next, to explain the case where the boom 10 is retracted and the clam shell bucket 11 is lifted upward, first, the operator 59 is operated, and the boom 10 is
Issue a command by pressing the button to reduce the size. As a result, the central control circuit 58 determines the command,
The hydraulic pressure supply is reversed by the switching valve circuit 54 to move the hydraulic cylinder 39 in the opposite direction. Then, the cylinder rod 40 is moved in the direction A in the figure, and the pulley 41 is moved in the right direction in the figure. For this reason,
A pull wire 45 wound around the pulley 41 is pulled inside the front boom 33 and operates to move the front boom 33 into the middle boom 32. At this point, the boom 33 moves into the middle boom 32, and at the same time, the tuning wire 3
5 is also pulled into the inside of the middle boom 32 and pulled in via the pulley 34, so the middle boom 32
is moved inward of the former boom 31. The state shown in FIG. 3 is the state in which the boom 10 is contracted and its overall length is at its minimum.

From this state, only the hydraulic motor 22 is operated,
moving the boom 10 upward along the guide body 6;
In FIG. 6, the arm 4 is returned to the state 4c. From this state, the hydraulic cylinders 5, 8 and the hydraulic motor 22 are activated with emphasis by the central control circuit 58, and the arm 4 draws an arcuate trajectory X so that the upper end of the boom 10 does not exceed a certain height from the ground surface.
Then, the boom 10 is driven and controlled so as to return to the standby position (arm 4A, boom 10A) shown by the solid line in FIG.

By tensioning the tuning wires 35, 37, the retracting wire 45, and the extruding wire 47 with a constant tension, the middle boom 32 and the front boom 33 have no play along their lengths. It can be reliably expanded or contracted.

〔Effect of the invention〕

As explained above, according to the present invention, when moving the telescopic boom and the arm supporting the boom from the standby position to the working position or vice versa, the upper end of the boom rises from the ground surface. Since the boom is moved in a trajectory that does not exceed a certain height, it is possible to prevent accidents in which the top end of the boom comes into contact with electric wires, etc. in urban areas.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing a deep hole drilling device that is an embodiment of the present invention, Fig. 2 is a skeleton diagram showing the configuration of the same operating mechanism, and Fig. 3 is an internal structure when the boom is contracted. 4 is a sectional view showing the case where the boom is extended, FIG. 5 is a circuit diagram showing a hydraulic control circuit, and FIG. 6 is an explanatory diagram showing the operating state of the boom. 1... Vehicle body, 10... Boom, 31... Original boom, 32... Middle boom, 33... Front boom, 39
... Hydraulic cylinder, 40 ... Cylinder rod, 4
5... Pull-in wire, 47... Push-out wire, 35, 37... Tuning wire.

Claims (1)

[Claims] 1. A boom configured to telescopically insert a plurality of booms with different outer diameters so that each boom can be extended and contracted in synchronization, an arm that telescopically supports the boom, and a first arm that adjusts the elevation angle of the arm. a driving means, a second driving means for adjusting the angle formed between the boom and the arm, a third driving means for moving the entire boom forward and backward in the length direction, and from the standby position to the working position or from the working position. Control for cooperatively operating the first, second, and third driving means so that the boom and arm draw a trajectory such that the upper end of the boom does not exceed a certain height from the ground surface when moving the boom and arm to the standby position. A boom telescoping mechanism characterized by having means.