JP2006256755A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle capable of automatically controlling a position of a counterweight in response to a position of a load to be applied to a working machine. <P>SOLUTION: The working vehicle, in which a swing crane 21 is turnably fitted to a mast 13 stood in a front part of a travelling body 1, is provided with a counterweight support 32 turnably supported by the travelling body 1 in one end thereof and provided with a counterweight in the other end thereof. In the case wherein a hoisted load 30 such as a heavy construction material is hoisted for transportation and a tool 31 such as a destructing tool is fitted for the work, balance is taken between a load of the hoisted load 30 and the tool 31 and the counterweight 33 by controlling turn of the counterweight support 32 in response to turning angle of the swing crane 21 detected by turning angle detecting means 25 and 26. When unloading on a side of the travelling body and working with the tool 31 on a side of the travelling body 1, posture of the travelling body 1 is prevented from being unstable and being fallen. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a work vehicle that automatically controls the position of a counterweight in accordance with the position of a load applied to a work machine.

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 machine such as a traveling carriage is provided with a working machine for performing work at the front of the traveling body.
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, A mast that moves up and down in one or more stages is provided at the front, and a lifting plate on which an attachment such as a fork or a boom is mounted is provided on the mast.
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 that are 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 In the case of a universal crane that allows the attachment to pivot in the horizontal direction, if the crane is swung while the suspended load is lifted, the posture of the traveling body may become unstable depending on the load of the suspended load. May fall.
In order to prevent this, for example, in Patent Documents 1 to 3, the weight of the counterweight is changed according to the load applied to the work machine, or the position of the counterweight is changed, thereby stabilizing the vehicle body during work. Such construction machines have been proposed.
JP-A-8-151192 JP 2001-3394 A JP 2003-213715 A

However, as in the construction machines described in Patent Documents 1 to 3, a work machine is attached to the front of the revolving body that is turnable with respect to the traveling body, and a counterweight is attached to the rear of the revolving body. If the position of the work implement is changed by turning the revolving body, the position of the counterweight changes in conjunction with this, so there is an advantage that the vehicle can be stabilized by the counterweight without the intention of the operator. A work vehicle having a structure having no revolving structure has a problem that the structure of the counterweight described in Patent Documents 1 to 3 cannot be employed as it is.
In addition, construction machines with a structure in which the revolving structure revolves with respect to the traveling structure are limited in size due to the complexity of the structure, and it is difficult to transport by an elevator installed in a building, etc. However, there is a problem that it is expensive compared to a working vehicle that travels on the road.

In addition, when a crushing tool is attached to an attachment to perform crushing work on a wall or the like, conventionally, a worker 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 work machine is equipped with a free boom as an attachment, When working with the crushing tool suspended from this free boom, the work is carried out by extending the free boom to the side of the work vehicle so as not to interfere with the traveling of the work vehicle. There is also a problem that the posture of the traveling body becomes unstable, sometimes falls, and the crushing work cannot be performed efficiently.

  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 position of a counterweight in accordance with the position of a load applied to a work machine, and to improve work safety. It is what.

  The working vehicle of the present invention includes a self-propelled traveling body, a mast erected on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and swingable to the lifting plate. A working vehicle provided with a mounted universal crane and an operating means provided on the traveling body and for operating the traveling body and operating the lifting means, one end side of which is pivotally supported by the traveling body, Counterweight support body provided with a counterweight on the end side, turning angle detection means for detecting the turning angle of the universal crane, and the counterweight to the side of the traveling body according to the turning angle detected by the turning angle detection means It comprises control means for turning control of the counterweight support so as to protrude.

With the above configuration, when lifting and transporting heavy loads such as heavy construction materials on a free crane, or when working with a tool such as a crushing tool, the counterweight installed at the rear end of the counterweight support is Since it protrudes to the side of the traveling body and the load of the suspended load or tool balances with the counterweight, when unloading to the side of the traveling body or working with a tool on the side of the traveling body, It becomes possible to prevent the posture of the traveling body from becoming unstable or falling down.
In addition, because only the counterweight turns with respect to the traveling body, it is easier to reduce the size compared to conventional construction machines in which the turning body provided on the traveling body turns, so an elevator installed in a building or the like is used. Thus, it can be easily moved to an arbitrary floor, and can be provided at low cost because of its simple structure.

  The work vehicle of the present invention is provided with a load detection means at the tip of the universal crane, detects the load applied to the universal crane, and turns the counterweight support from the obtained load and the turning angle detected by the turning angle detection means. The angle is controlled.

  With the above-described configuration, the load of the suspended load is set as a parameter for calculating the turning angle, so that the turning angle can be controlled with higher accuracy, thereby further improving safety.

  The working vehicle of the present invention includes a self-propelled traveling body, a mast erected on the front of the traveling body, a lifting plate supported by the mast and movable up and down by lifting means, and swingable to the lifting plate. A working vehicle provided with an attached universal crane and an operating means that is provided on the traveling body and that operates the traveling body and operates the lifting and lowering means, one end side of which is pivotally supported by the traveling body, Counterweight support provided with a counterweight on the other end, turning angle detection means for detecting the turning angle of the universal crane, and load detection means provided at the tip of the universal crane and detecting a load applied to the universal crane And the turning angle of the counterweight support body is controlled so that the counterweight protrudes to the side of the traveling body according to the turning angle detected by the turning angle detection means and the load detected by the load detection means. One in which was formed from the control means.

With the above configuration, when lifting and transporting heavy loads such as heavy construction materials on a free crane, or when working with a tool such as a crushing tool, the counterweight installed at the rear end of the counterweight support is Since it protrudes to the side of the traveling body and the load of the suspended load or tool balances with the counterweight, when unloading to the side of the traveling body or working with a tool on the side of the traveling body, It becomes possible to prevent the posture of the traveling body from becoming unstable or falling down.
In addition, because only the counterweight turns with respect to the traveling body, it is easier to reduce the size compared to conventional construction machines in which the turning body provided on the traveling body turns, so an elevator installed in a building or the like is used. In addition, it is easy to move to any floor, and the load of the suspended load can be used as a parameter for calculating the turning angle, so more precise turning angle control is possible, further improving safety. To do.

  According to the work vehicle of the present invention, when lifting and transporting heavy loads such as heavy construction materials on a free crane or when working with a tool such as a crushing tool, it is installed at the rear end of the counterweight support. The counterweight that protrudes to the side of the traveling body balances the load of the suspended load or tool with the counterweight, so that the counterweight can be unloaded to the side of the traveling body or operated with a tool on the side of the traveling body. It is possible to prevent the posture of the traveling body from becoming unstable or toppling over.

Embodiments of the present invention will be described in detail with reference to the drawings.
1 is a side view of the work vehicle, FIG. 2 is a plan view thereof, FIG. 3 is an explanatory diagram of the action at the time of work, FIG. 4 is a flowchart showing the action at the time of work, and FIG. FIG.
The traveling body 1 constituting the work vehicle has a carriage-like traveling 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 a counterweight 33 (described later) at the rear of the traveling body 1, and a traveling operation means 6 and a work implement operating means 7 are provided at the upper end of the support arm 5. Yes.
The traveling operation means 6 is electrically connected to the control means 10 in the machine room 8 provided above the traveling body 1, and moves the operation lever 6 a provided at the upper end of the support arm 5 from 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 control switch 6b including a push button switch, and a travel speed suitable for work can be selected by the travel speed side control switch 6b. I'm.

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 on the front part of the traveling body 1, and the mast 13 slides up and down inside the mast 13a, an outer mast 13a whose lower end is pivotally attached to the body frame 1a. The outer mast 13a is freely provided, and the outer mast 13a is tiltable in the front-rear direction with the lower end pivotally mounted at the center 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 transporting a heavy load 30 made of heavy materials such as construction materials or hanging a crushing tool 31 to crush and dismantle a wall of a building or the like 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.

The pin 24 for supporting the base end portion of the first boom 21a is provided with a first angle detecting means 25 for detecting the turning angle of the first boom 21, and a pin for pivotally attaching the first boom 21a and the second boom 21b. 21c is provided with second angle detection means 26 for detecting the turning angle of the second boom 21b.
These first and second angle detection means 25 and 26 are both formed of a potentiometer or the like, and send the detected turning angle signals of the first boom 21a and the second boom 21b to the control means 10. The control means 10 controls the position of a counterweight 33 (to be described later) in accordance with the turning angle signal input from the first and second angle detection means 25 and 26.
A load detection means 28 is provided on the lower surface of the distal end side of the second boom 21b, and the load 30 and the crushing tool 31 are suspended from the load detection means 28 via a suspension means 29 such as a wire rope. The load detecting means 28 can also detect a one-dimensional load cell that detects only the load in the hanging direction, that is, the downward direction, and the load when the suspended load 30 moves in the front-rear and left-right directions 3 A dimension load cell or the like is used.

The load of the suspended load 30 detected by the load detecting means 28 is sent to the control means 10 in the machine room 8 provided on the traveling body 1, and the control means 10 determines whether or not the suspended load 30 is present according to the load. A supporting member 1b is erected on the traveling body 1 so as to be positioned behind the mast of the work machine, and is separated above the upper surface of the traveling body 1 by the supporting member 1b. In this state, the machine room 8 is attached, and a counterweight support 32 is interposed between the upper surface of the traveling body 1 and the bottom surface of the machine room 8.
As shown in FIG. 2, the counterweight support 32 has an approximately oval shape. One end of the counterweight support 32 protrudes substantially at the center of the traveling body 1, and can turn freely on a cylindrical support cylinder 1c via a bearing means (not shown). The other end side protrudes rearward from the rear surface of the machine room 8, and a counterweight 33 also serving as a battery chamber is provided on the upper surface of the other end side.

The counterweight 33 is formed by a substantially semi-cylindrical case 33a, and the front surface of the case 33a and the rear surface of the machine chamber 8 have an arc shape so that the counterweight 33 does not interfere when the counterweight support 32 rotates. In the case 33a, a battery (not shown) for supplying electric power to the driving means, the control means, and the hydraulic pressure generating means is accommodated.
An internal ring gear 34 is fixed to the upper end portion of the support cylinder 1c that supports one end of the counterweight support 32, and a turning motor 35 comprising a hydraulic motor attached to the ring gear 34 on the counterweight support 32 side. The rotating pinion 36 is meshed, and the swivel motor 35 is supplied with pressure oil from the hydraulic pressure generating means.
The hydraulic pressure generating means is constituted by a hydraulic pump driven by a driving means (not shown), 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. The lift cylinder 14, the swing motor 35, and the tilt cylinder are supplied.

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. Is set.
Next, when the work vehicle is used to transport the suspended load 30 such as a construction material, when the suspended load 30 is suspended via the suspension means 29 to the load detection means 28 provided at the tip of the universal crane 21, the work machine 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 the horizontal state, so that the suspended load 30 is lifted. Stop climbing 13b.

Next, when the traveling speed control switch 6b is operated according to the work conditions to start traveling of the traveling body 1, the control means 10 loads the load sent from the load detecting means 28 in step S1 of the flowchart shown in FIG. The load of the suspended load 30 is detected based on the signal, and it is determined whether the suspended load 30 is currently suspended in step S2. If it is determined that the suspended load 30 is suspended, the process proceeds to step S3, and it is determined that the suspended load 30 is not suspended. If so, the process proceeds to step S5.
In step S3, the turning angle θ1 of the suspended load 30 with respect to the center of the traveling body 1 in the traveling direction is controlled from the turning angle detection signals sent from the turning angle detection means 25 and 26 provided at the bent portion of the universal crane 21. The means 10 calculates and the turning angle θ2 of the counterweight 33 corresponding to the obtained turning angle θ1 is calculated.

The turning angle θ1 of the suspended load 30 and the turning angle θ2 of the counterweight 33 may be set in advance as θ1 = θ2, but may be calculated from a function of the loads W and θ of the suspended load 30, for example, θ2 = θ1 + K · W (K is a constant).
Alternatively, θ2 = f (θ1, W, L) may be set with the position of the suspended load 30 and the distance L from the pin 24 supporting the universal crane 21 to the suspended load 30 as parameters.
Since the control means 10 controls the hydraulic control valve in accordance with the obtained counterweight turning angle θ2, the turning motor 35 is controlled to turn in step S4 by the pressure oil supplied from the hydraulic supply means, thereby supporting the counterweight. Since the body 32 is swung in the direction opposite to the direction of the suspended load 30, the counterweight 33 installed at the rear end of the counterweight support body 32 protrudes to the side of the traveling body 1 as shown in FIG. 3. The load of the suspended load 30 and the counterweight 33 are balanced so that the posture of the traveling body 1 becomes unstable during traveling of the traveling body 1 or when unloading to the side of the traveling body 1. , It will be possible to prevent falling.

If it is determined in step S2 that the suspended load 30 is not suspended, the turning motor 35 is controlled in step S5 so that the turning angle θ2 of the counterweight support 32 becomes 0 degrees. It does not protrude to the side of the traveling body 1.
Thereafter, the suspended load 30 is transported to the work site while repeating the flow, and when the suspended load 30 has been transported, the universal crane 21 is bent in the horizontal direction around the pins 21c and 24, and the suspended load 30 is Unloading to a storage place can be performed without changing the direction of the traveling body 1, and even when the suspended load 30 is heavy, the unloading work can be efficiently performed in a stable state.

The above is the operation when the suspended load 30 such as a construction material is transported by a work vehicle. The operation when the crushing tool 31 is suspended from the tip of the universal crane 21 to crush the building wall 38 and the like is shown in FIG. Will be described with reference to FIG.
In the work, as shown in FIG. 5, the traveling body 1 is stopped at a position away from the wall 38 so as not to hinder the traveling of the traveling body 1 so that the traveling direction is parallel to the wall 38. The traveling speed of the traveling body 1 is set to a speed suitable for crushing work.
Next, the traveling body 1 is caused to travel in the crushing direction of the wall 38 with the operator holding the crushing tool 31, and the crushing operation of the wall 38 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).

Further, during the crushing work, the crushing tool 31 is suspended from the side of the traveling body 1 by the free crane 21 so that the traveling of the traveling body 1 is not hindered. Is applied as an unbalanced load, and as a result, the posture of the traveling body 1 becomes unstable.
In order to prevent this, the position of the counterweight 33 is controlled by the control means 10 during the crushing operation as in the case of carrying the suspended load described above.
That is, the control means 10 determines the turning angle θ1 of the suspended load 30 with respect to the center in the traveling direction of the traveling body 1 from the turning angle detection signals sent from the turning angle detection means 25 and 26 provided at the bent portion of the universal crane 21. The turning angle θ2 of the counterweight 33 corresponding to the obtained turning angle θ1 is calculated.

Since the control means 10 controls the hydraulic control valve in accordance with the obtained counterweight turning angle θ2, the turning motor 35 is turned by the pressure oil supplied from the hydraulic supply means, whereby the counterweight support 32 is crushed. Since it is swung in the direction opposite to the direction of the tool 31, the counterweight 33 installed at the rear end of the counterweight support 32 protrudes to the side of the traveling body 1 as shown in FIG. The counterweight 33 and the counterweight 33 are balanced, and the posture of the traveling body 1 can be prevented from becoming unstable or toppling over during the crushing operation.
Further, even if the crushing tool 31 is unstablely swung due to the inertia when the traveling body 1 travels, the reaction force during the crushing operation, etc., and the turning angle of the free crane 21 changes, the counterweight 33 Since the position is also automatically corrected, even if the crushing tool 31 is continuously moved left and right to change the crushing position of the wall 38, the posture of the traveling body 1 does not become unstable.

In the above embodiment, the counterweight position is automatically swiveled according to the position of the suspended load 30 and the position of the crushing tool 31, but may be manually adjusted. Since no control means is required, the control system can be simplified.
The battery accommodated in the case 33a is also used as the counterweight 33. However, the counterweight 33 may be manufactured using a heavy object and attached to the rear portion of the counterweight support 32. The rear wheel 3 includes two wheels. However, one wheel may be used, and the suspended load 30 and the crushing tool 31 are suspended from the tip of the universal crane 21 by the suspension means 29. However, a handling means for gripping the work object may be attached.
Further, an automatic control release switch may be provided so that the automatic position control of the counterweight 33 can be released.

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 operation | movement explanatory drawing of the working vehicle which becomes embodiment of this 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)
Reference Signs List 17 Lift plate 21 Swivel crane 25 Turning angle detecting means 26 Turning angle detecting means 28 Load detecting means 30 Suspended load 31 Crushing tool 32 Counterweight support 33 Counterweight

Claims (3)

  A self-propelled traveling body, a mast erected on the front of the traveling body, a lifting plate supported by the mast and movable up and down by a lifting means, and a freely attached to the lifting plate. A working vehicle provided with a crane and an operating means that is provided on the traveling body and that operates the traveling body and operates the elevating means. One end side of the working vehicle is pivotally supported on the traveling body, A counterweight support provided with a counterweight on the end side, a turning angle detecting means for detecting the turning angle of the universal crane, and the counterweight according to the turning angle detected by the turning angle detecting means A work vehicle comprising control means for controlling the turning of the counterweight support so as to protrude to the side of the body.   A load detection means is provided at the tip of the universal crane to detect the load applied to the universal crane, and the turning angle of the counterweight support is controlled from the obtained load and the turning angle detected by the turning angle detection means. The work vehicle according to claim 1.   A self-propelled traveling body, a mast erected on the front of the traveling body, a lifting plate supported by the mast and movable up and down by a lifting means, and a freely attached to the lifting plate. A working vehicle provided with a crane and an operating means that is provided on the traveling body and that operates the traveling body and operates the elevating means. One end side of the working vehicle is pivotally supported on the traveling body, A counterweight support provided with a counterweight on the end side, a turning angle detection means for detecting a turning angle of the universal crane, and a load provided at the tip of the universal crane and applied to the universal crane. The counterweight protrudes to the side of the traveling body according to the load detection means, the turning angle detected by the turning angle detection means and the load detected by the load detection means. Work vehicle, characterized by being configured and control means for controlling the turning angle of the Ntaueito support.

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