JP2006248622A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle capable of automatically controlling the traveling speed of a traveling body according to the load on a working machine. <P>SOLUTION: The working vehicle comprises a mobile traveling body 1, a mask 13 erected on a front part of the traveling body 1, an elevating/lowering plate 17 which is supported by the mast 13 and elevated/lowered by an elevating/lowering means 14, an attachment 20 attachably/detachably mounted on the elevating/lowering plate 17, operation means 6, 7 which are provided on the traveling body 1 to operate the traveling of the traveling body 1 and the operation of the elevating/lowering means 14, a load detection means 25 to detect the load on the attachment 20, and a control means 10 to control the traveling speed of the traveling body 1 according to the load detected by the load detection means 25. Since the traveling speed of the traveling body 1 is automatically controlled so as to reach the optimum value according to the hanging load. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a work vehicle that automatically controls the traveling speed of a traveling body in accordance with the load of a suspended load.

Conventionally, work vehicles are used to transport heavy loads at construction sites such as buildings, and renovation and demolition work of existing buildings. This type of work vehicle is powered by an engine or battery. In general, a traveling body such as a traveling carriage that is equipped with a working machine that performs work at the front of the traveling body is used.
A work machine of a work vehicle has a structure suitable for the content of the work.For example, a work machine that mainly carries heavy work such as construction materials or lifts it to a high place, The front part is provided with a mast that moves up and down in one or more stages, and this mast is provided with a lifting plate on which an attachment such as a fork or a boom is mounted (for example, Patent Document 1).
In addition, there are two types of traveling body: a method in which an operator gets on the work and a method in which the work is performed without getting on the traveling body. The latter method is used on site because the work vehicle is relatively small. It is widely used for renovation of buildings because it has good mobility and can move work vehicles to each floor of the building using existing elevators.

On the other hand, in a work vehicle where an operator does not get on the traveling body, an attachment is attached to the lifting plate provided on the mast of the work machine, and this attachment allows construction materials and tools necessary for the construction to the work site. At the work site, work to lift construction materials with attachments exchanged according to the work content, or to crush or disassemble the interior of walls, floors, ceilings, etc. by attaching crushing tools etc. to the attachment Is going.
JP-A-6-255994

However, in the conventional work vehicle, because the configuration is such that the speed of the traveling body is controlled by the operation means while the operator is accompanied by the traveling body that is self-propelled, when lifting a suspended load such as heavy construction material, There are cases where the speed of the traveling body is too high with respect to the suspended load, and as a result, the suspended load swings and the posture of the traveling body becomes unstable, and sometimes the work vehicle falls.
In addition, when a crushing tool is attached to an attachment to perform crushing work on a wall or the like, conventionally, an operator who operates the crushing tool to perform crushing work and at least two people who move the work vehicle according to the progress of the crushing work Recently, there are cases where one worker performs these operations for labor saving.
In such a case, while running the traveling body at a speed commensurate with the progress of the crushing work, the crushing tool is operated to crush the wall, but the crushing speed does not necessarily match the traveling speed, The crushing tool swings unstablely due to the inertia of the traveling body, the reaction force during crushing work, etc., and the crushing tool and the operator collide with the traveling body and attachment, or around the crushing wall. There is a problem that a crushing tool collides with a structure or the like and breaks them carelessly.

  The present invention has been made to remedy such problems, and it is an object of the present invention to provide a work vehicle that automatically controls the traveling speed of a traveling body in accordance with a load applied to a work machine, and to improve work safety. To do.

  The work vehicle of the present invention includes a self-propelled traveling body, a mast standing on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and detachable from the lifting plate. A work vehicle provided with an attached attachment and an operating means provided on the traveling body and operating the traveling body and operating the lifting means, a load detecting means for detecting a load applied to the attachment, and a load It comprises control means for controlling the traveling speed of the traveling body according to the load detected by the detecting means.

  With the above configuration, when a suspended load such as heavy construction material is lifted and transported, the traveling speed of the traveling body is automatically controlled to the optimum speed in accordance with the suspended load. It is possible to prevent the posture of the traveling body from becoming unstable and the work vehicle from tipping over, thereby improving the safety of the work vehicle.

  The work vehicle of the present invention presets a plurality of traveling speed modes in the control means, selects the traveling speed mode according to the load detected by the load detecting means, and drives the traveling body in accordance with the selected traveling speed mode. The drive source to be controlled is controlled.

  With the above-described configuration, the traveling speed of the traveling body suitable for the work content can be easily set, and the speed of the traveling body can be controlled by the control means with a simple configuration, so that the cost of the entire working vehicle can be reduced. .

  The work vehicle of the present invention is provided with a low-speed traveling release switch for disabling the low-speed traveling mode in the operating means.

  With the above configuration, when it is determined that the suspended load is relatively light, the travel path is suitable for high speed or medium speed travel, and there is no fear of the suspended load swinging, the operator operates this low speed travel mode release switch. By canceling the low-speed traveling mode, the traveling body can be moved at a high speed, so that it is possible to shorten the time for carrying a suspended load, thereby improving work efficiency.

  In the work vehicle of the present invention, the load detection means is formed by a three-dimensional load cell, detects a three-dimensional vibration of the load applied to the attachment, and decelerates the traveling body when the vibration exceeds a preset range. It is controlled to stop.

  With the above configuration, when the traveling body is driven at a speed commensurate with the progress of the crushing work and the crushing tool is operated to perform the crushing work on the wall or the like by one person, the inertia and the crushing work when the traveling body travels Even if the crushing tool fluctuates unstablely due to the reaction force of the time, the traveling body is automatically decelerated or stopped by the load signal detected by the load detection means. It is possible to prevent the crushing tool from colliding with the structure around the wall being crushed or crushing, and inadvertently damaging them.

  The work vehicle of the present invention includes a self-propelled traveling body, a mast standing on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and detachable from the lifting plate. A work vehicle provided with an attached attachment and an operating means that is provided on the traveling body and that operates the traveling body and operates the lifting and lowering means, and includes a load composed of a three-dimensional load cell that detects a load applied to the attachment The detection means and a plurality of travel speed modes are preset, and the travel speed mode is selected according to the load detected by the load detection means, and the drive source for driving the traveling body is controlled by the selected travel speed mode. It comprises a control means and a low speed travel release switch for disabling the low speed travel mode provided in the operation means.

With the above configuration, when a suspended load such as heavy construction material is lifted and transported, the traveling speed of the traveling body is controlled automatically to become low according to the suspended load, so the suspended load swings. Therefore, it is possible to prevent the posture of the traveling body from becoming unstable and the work vehicle from tipping over, thereby improving the safety of the work vehicle and facilitating the traveling speed of the traveling body suitable for the work content. In addition to being able to be set, the speed of the traveling body can be controlled by a control means having a simple configuration, so that the cost of the entire work vehicle can be reduced.
In addition, when the travel path is suitable for high speed or medium speed travel, the operator can run the traveling body at a high speed by canceling the low speed travel mode, thereby shortening the transport time of the suspended load. In addition to improving the work efficiency, if the crushing tool is operated and the wall is crushed by one person, the crushing tool will be unstablely shaken due to the inertia of the traveling body and the reaction force during the crushing work. Even when moving, the traveling body automatically decelerates or stops, so the crushing tool and the worker collide with the traveling body and the attachment, or the crushing tool collides with the structure around the wall being crushed, These can be prevented from being accidentally damaged.

  According to the work vehicle of the present invention, since the traveling speed of the traveling body is automatically controlled to the optimum speed according to the suspended load, the suspended load swings and the posture of the traveling body becomes unstable. In addition, the work vehicle can be prevented from tipping over, thereby improving the safety of the work vehicle.

Embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a side view of a work vehicle, FIG. 2 is a plan view of the work vehicle, and FIG. 3 is a flowchart showing an operation during work. A traveling body 1 constituting the work vehicle has a carriage-like travel frame 1a.
The front portion of the traveling frame 1a has a two-limb structure, and the front wheel 2 is rotatably supported at the front end portion of the traveling frame 1a. The rear portion of the body frame 1a serves as a driving wheel and a steering wheel. A rear wheel 3 is provided.
The rear wheel 3 is connected to driving means 4 made of an electric motor installed at substantially the center of the vehicle body frame 1a. The driving means 4 rotates the rear wheel 3 so that the traveling body 1 can freely run. ing.

A support arm 5 protrudes upward from the rear portion of the traveling body 1, and a traveling operation means 6 and a work implement operation means 7 are provided at the upper end of the support arm 5.
The traveling operation means 6 is electrically connected to the control means 10 accommodated in the machine room 8 provided on the traveling body 1, and moves the operation lever 6 a provided at the upper end of the support arm 5 to the neutral position. When operated forward, the traveling body 1 moves forward, and when operated backward, the traveling body 1 moves backward, and stops at the neutral position.

  When the operating lever 6a is operated to the left, the traveling body 1 turns left, and when the operating lever 6a is operated to the right, the traveling body 1 turns right, and the desired turning turns the traveling body 1 with a radius depending on the operation amount in the left or right direction. The travel operation means 6 is provided with a travel speed mode selection switch 6b comprising a pushbutton switch and a low speed travel mode release switch 6c, which are suitable for work by the travel speed mode selection switch 6b. A traveling speed mode can be selected. The traveling modes include, for example, a three-stage traveling mode including a high speed traveling mode, a medium speed traveling mode, and a low speed traveling mode.

On the other hand, the work implement operating means 7 is formed by a work implement lift switch 7a composed of a seesaw type switch. When the upper portion of the work implement lift switch 7a is pressed, the lift plate 17 provided on the work implement 12 rises, When the button is pressed, the elevating plate 17 is lowered.
The work machine 12 has a mast 13 erected in front of a machine room 8 provided on the traveling body 1, and the mast 13 includes an outer mast 13a whose lower end is pivotally attached to the vehicle body frame 1a, and a mast. The outer mast 13a is tiltable in the front-rear direction around the pivoted portion of the lower end by a tilting means (not shown).
The upper ends of the inner masts 13b are connected to each other by a horizontal rod 13c, and the tip of the piston rod 14a of the lift cylinder 14 standing between the inner masts 13b is fixed to the lower surface of the horizontal rod 13c. The inner mast 13b is free, and a sprocket 15 is rotatably supported on the tip end side of the piston rod 14a, and an intermediate portion of the chain 16 is bypassed by the sprocket 15.
One end side of the chain 16 is fixed to the lower end side of the outer mast 13a, and the other end side is connected to an elevating plate 17 that is supported by the inner mast 13b so as to be movable up and down.

An attachment 20 that can be exchanged according to the work content is detachably attached to the front surface of the lifting plate 17.
When the work content of the work machine 12 is, for example, lifting and carrying a heavy load 27 made of heavy materials such as construction materials, or performing a work of crushing and dismantling a wall of a building or the like by hanging a crushing tool 28 The universal crane 21 is used as the attachment 20.
As shown in FIGS. 1 and 2, the universal crane 21 has a base end pivotally attached to a bracket 23 attached to the front surface of the elevating plate 17 by a pin 24, and can freely rotate in the horizontal direction around the pin 24. The first boom 21a and the second boom 21b pivotally attached to the tip of the first boom 21a by a pin 21c. The tip of the second boom 21b is also rotatable in the left-right direction around the pin 21c. Yes.
A load detection means 25 is provided on the lower surface of the distal end side of the second boom 21b, and the load 27 and the crushing tool 28 are suspended from the load detection means 25 via a suspension means 26 such as a wire rope. It has become.

The load detecting means 25 includes a one-dimensional load cell that detects only the load in the hanging direction, that is, a downward direction, a three-dimensional load cell that can also detect a load when the load 27 moves in the front-rear and left-right directions on a horizontal plane, and the like. in use.
The load of the suspended load 27 detected by the load detection means 25 is sent to the control means 10 in the machine room 8 provided on the traveling body 1, and the control means 10 causes the traveling mode of the traveling body 1 according to the load. A battery chamber 9 also serving as a counterweight is provided at the rear part of the traveling body 1, and power is supplied to the driving means, the control means, and the hydraulic pressure generating means in the battery chamber 9. A battery (not shown) is supplied.
The hydraulic pressure generating means is constituted by a hydraulic pump driven by the driving means 4, and the pressure oil discharged from the hydraulic pump is passed through a hydraulic control valve (not shown) that is switched and controlled by the control means 10. It is supplied to the lift cylinder 14 and the tilt cylinder.

  Next, the operation when the suspended load 27 made of heavy materials such as construction materials is transported by the work vehicle constructed as described above will be explained. For example, the work vehicle used at the construction site such as a building is mobile at the work site. Of course, the mast height of the work machine 12 can be moved to each floor in advance by using the existing elevator. It is set.

Next, when the work vehicle is used to carry the suspended load 27 such as a construction material, the suspended load 27 is suspended from the load detecting means 25 provided at the tip of the universal crane 21 via the suspended means 26. The work implement lift switch 7a of the operation means 7 is operated, and the inner mast 13b is raised by the lift cylinder 14.
As a result, the lifting plate 17 is lifted, and the free crane 21 attached to the lifting plate 17 is lifted while maintaining a horizontal state. Therefore, when the suspended load 27 reaches a predetermined height, the inner mast is lifted. Stop climbing 13b.

Next, when the traveling speed mode selection switch 6b selects the traveling speed mode according to the work condition and the traveling of the traveling body 1 is started, the control means 10 is the load detecting means 25 in step S1 of the flowchart shown in FIG. From the load signal sent from, the load 27 is detected, and it is determined in step S2 whether the currently suspended load 27 is suspended.
If it is determined that the suspended load 27 is suspended, the process proceeds to step S3. If it is determined that the suspended load 27 is not suspended, the process proceeds to step S6. In step 3, the traveling speed mode selected in advance by the traveling mode selection switch. Even if the high-speed driving mode is selected, the medium speed or low-speed driving mode is selected according to the load. Therefore, the control means 10 sets the drive source 4 so that the traveling body 1 runs in the selected driving speed mode. If it is determined in step S2 that the suspended load 27 is not suspended, the control means 10 controls the drive source 4 so that the traveling body travels in the high-speed traveling mode in step S6.
As a result, the traveling body 1 travels at a low speed or medium speed when there is a suspended load 27, and travels at a high speed when there is no suspended load 27. While operating the operating lever 6a provided at the upper end of the support arm 5 to steer the traveling body 1 so that the traveling body 1 is directed to the target location, the suspended load 27 is suspended. When the traveling body 1 is traveling in the state where it has been, it is always determined whether or not the low-speed traveling mode release switch 6c is pressed in step S4.

  The low-speed traveling mode release switch 6c allows the operator accompanying the traveling body 1 to use the suspended load 27 that is relatively light and the traveling path is suitable for high-speed or medium-speed traveling so that the suspended load 27 does not wobble during traveling. If the control means 10 determines that the low-speed driving mode has been released in step S4 because the operator has operated the low-speed driving mode release switch 6c, the process proceeds to step S6 and the driving speed mode is set. If it is determined that the low-speed driving mode has not been released after switching to the high-speed mode, the process proceeds to step S5 and the driving is continued while the driving speed mode is maintained at the low-speed or medium-speed driving mode. When the low-speed traveling mode is canceled by the low-speed traveling mode cancel switch 6c during traveling 1, the traveling body 1 can travel at high speed. It is possible to carry the load 27 hanging to the Ku work site, to improve the work efficiency.

Further, when the load detection means 25 is formed by a three-dimensional load cell, it is determined by a signal sent from the load detection means 25 whether or not the suspended load 27 has shaken in step S7 during traveling of the traveling body 1. When the swing of the suspended load 27 does not exceed the preset threshold value, the low speed traveling mode or the medium speed traveling mode is maintained, and when the swing of the suspended load 27 exceeds the preset threshold value, the process goes to step S8. The traveling body 1 is stopped and the traveling body 1 is prevented from falling over.
Thereafter, the suspended load 27 is conveyed to the work site while repeating the above flow, and when the suspended load 27 has been conveyed, the universal crane 21 is bent in the horizontal direction around the pins 21c and 24, and the suspended load 27 is Since unloading to a storage place can be performed without changing the direction of the traveling body 1, the unloading work of the suspended load 27, which is a heavy object, can be performed efficiently in a short time.

The above is the operation when a heavy object such as construction material is transported by a work vehicle. The operation when the crushing tool 28 is suspended from the tip of the universal crane 21 to crush the building wall 29 and the like is shown in FIG. The description will be given with reference.
In the work, as shown in FIG. 4, the traveling body 1 is stopped so as to be parallel to the wall 29 at a position away from the wall 29 so as not to hinder the traveling of the traveling body 1, and the traveling speed mode is set in this state. Set to a low-speed running mode suitable for crushing work.
Next, the traveling body 1 is caused to travel in the crushing direction of the wall 29 with the operator holding the crushing tool 28, and the crushing operation of the wall 29 is started. The speed of the traveling body 1 is higher than the crushing speed. If it is too slow or too slow, the traveling speed of the traveling body 1 is adjusted to a speed that matches the crushing speed by a speed adjusting means provided in a remote control means (not shown).

  In addition, during the crushing operation, whether or not the crushing tool 28 is shaken is determined by a signal sent from the load detection means 25 including a three-dimensional load cell, and the fluctuation of the crushing tool 28 does not exceed a preset threshold value. Since the traveling body 1 is stopped when the low-speed traveling mode is maintained and the runout of the crushing tool 28 exceeds a preset threshold, the inertia when the traveling body 1 travels and the reaction during the crushing operation are stopped. Even if the crushing tool swings unstable due to force or the like, the crushing tool 28 or an operator collides with the traveling body 1 or the attachment 20, or the crushing tool 28 collides with a structure around the wall 29 being crushed. Thus, it is possible to prevent them from being accidentally damaged.

In the embodiment described above, the traveling speed mode of the traveling body 1 is set in three stages, and the speed control of the traveling body 1 is performed by selecting these modes, but depending on the load of the suspended load 27 The traveling speed of the traveling body 1 may be continuously variably controlled, and the traveling control signal output from the control means 10 when the traveling body 1 starts traveling or stops is filtered to start or stop traveling. Sometimes, the traveling body 1 may be controlled so as to accelerate or decelerate sequentially.
The battery housed in the battery chamber 9 at the rear of the traveling body 1 is also used as a counterweight. However, the counterweight may be separately manufactured and attached to the rear part of the traveling body 1, and the rear wheel 3 may be two wheels. One wheel may be sufficient.

1 is a side view of a work vehicle according to an embodiment of the present invention. 1 is a plan view of a work vehicle according to an embodiment of the present invention. It is a flowchart which shows the effect | action of the working vehicle which becomes embodiment of this invention. It is effect | action explanatory drawing at the time of performing a crushing operation | work with the working vehicle which becomes embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling body 6 Traveling operation means 7 Work implement operating means 10 Control means 13 Mast 14 Lift cylinder (elevating means)
17 Lift plate 20 Attachment 25 Load detection means 27 Suspended load 28 Crushing tool

Claims (5)

  A self-propelled traveling body, a mast standing on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and an attachment detachably attached to the lifting plate And a work vehicle provided with the traveling body and provided with an operation means for performing a traveling operation of the traveling body and an operation of the elevating means, a load detecting means for detecting a load applied to the attachment, A work vehicle comprising: control means for controlling the traveling speed of the traveling body according to the load detected by the load detecting means.   A drive that presets a plurality of traveling speed modes in the control means, selects the traveling speed mode according to the load detected by the load detecting means, and drives the traveling body in accordance with the selected traveling speed mode. The work vehicle according to claim 1, wherein the work source is controlled.   The work vehicle according to claim 2, wherein a low-speed traveling release switch for disabling the low-speed traveling mode is provided in the operation means.   The load detection means is formed by a three-dimensional load cell, detects a three-dimensional vibration of a load applied to the attachment, and decelerates or stops the traveling body when the vibration exceeds a preset range. The work vehicle according to any one of claims 1 to 3, wherein the work vehicle is controlled. A self-propelled traveling body, a mast standing on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and an attachment detachably attached to the lifting plate And a work vehicle provided with the traveling body, and having a traveling operation of the traveling body and an operation means for operating the elevating means, the load comprising a three-dimensional load cell for detecting a load applied to the attachment A driving means for driving the traveling body in accordance with the selected traveling speed mode, the detecting means and a plurality of traveling speed modes being preset and selecting the traveling speed mode according to the load detected by the load detecting means; A work vehicle comprising: control means for controlling a power source; and a low-speed traveling release switch for disabling a low-speed traveling mode provided in the operating means.

Images