JP2006273481A - Working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working vehicle displaying a workable range of a working machine on a display means and a floor face surrounding a traveling body as a visible image. <P>SOLUTION: This working vehicle comprises a flexible crane 21 which is mounted to a mast 13 erected on a front part of the self-traveling traveling body 1 so as to be turnable; a load detecting means 28 detecting load applied to the flexible crane 21; turning angle detecting means 25, 26 detecting a turning angle of the flexible crane 21; a control means 11 calculating a movable range 40 of the flexible crane 21, based on the load detected by the load detecting means 28 and the turning angle detected by the turning angle detecting means 25, 26; and a light irradiating means 41 irradiating a light ray on the floor face surrounding the traveling body 1 and displaying the movable range 40 as a visible image. By performing work so as to prevent suspended load and a tool etc. from exceeding the workable range displayed on the floor face, unstable posture and falling of the traveling body 1 are prevented, and therefore, unloading work and work using a tool etc. can be safely performed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a work vehicle in which a workable range of a work machine is displayed as a visible image on a floor surface around a display means and a traveling body.

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 in which a worker does not get on the traveling body, the work machine is attached to a lifting plate provided on the mast of the work machine, and the work machine is used to work on construction materials and tools necessary for the work. At the work site, the construction materials are lifted by working machines that are exchanged according to the work content, or crushing tools are attached to the work machines to crush or dismantle the interior such as walls, floors, and ceilings. In the case of a universal crane that can be swung horizontally 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. Or sometimes falls.
In order to prevent this, for example, Patent Documents 1 and 2 propose a display device that displays a safety area during work on a display unit provided in a cab.
The work range display device described in Patent Document 1 calculates the position of a workbench provided at the tip of the boom based on detection signals from the undulation angle detector and the boom length detector, and the obtained calculation result Based on the above, the current work position and the movable workable range of the work table are displayed on the display means provided in the cab.
Further, the safety device described in Patent Document 2 divides the work area of the crane into four areas, boundary setting means for setting a turning position as a boundary of each area, and setting work capacity for setting an allowable work capacity in each area It is comprised from a setting means, and it can grasp | ascertain now easily how much a boom can be swung by an operator seeing the display means installed in the cab.
JP-A-6-56400 JP-A-8-12273

However, since the work range display device described in Patent Document 1 is configured to display the workable range when the boom is swung on the display means by numerical values, the operator can instantaneously read the numerical values to determine whether it is safe. There is a problem that it is necessary to perform work and requires skill in the work.
Further, since the safety display device described in Patent Document 2 does not display the workable range on a scale, it is difficult to determine how much room is available in the workable range, and any display device is operated by an operator. It is effective when operating a work machine indoors, but there is a problem that it cannot be applied to a small work vehicle in which one worker often works while operating the work machine in the vicinity of the work machine. .

  The present invention has been made to remedy such a problem, and provides a work vehicle in which a workable range of a work machine is displayed as a visible image on a floor surface around a display means and a traveling body. The purpose is to improve 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 load detection means for detecting a load applied to a universal crane, comprising: an attached universal crane; an operation means provided on the traveling body; and an operation means for performing a traveling operation of the traveling body and an elevating operation of the elevating means. A turning angle detecting means for detecting a turning angle of the universal crane, a control means for calculating a movable range of the flexible crane from a load detected by the load detecting means and a turning angle detected by the turning angle detecting means, and a control means. The obtained movable range is composed of display means for displaying the work vehicle image and the work machine image in an overlapping manner.

  With the above-mentioned configuration, when lifting and transporting heavy loads such as heavy construction materials on a free crane or attaching a tool such as a crushing tool to work, the workable range where the tip of the free crane is displayed on the display means By working so as not to deviate from the above, even if unloading to the side of the traveling body or working with a tool on the side of the traveling body, the posture of the traveling body will not become unstable or fall over Because unloading work and work with tools etc. can be done safely, and the workable range displayed according to the load applied to the universal crane is automatically changed, work can be done without worrying about the load, Work efficiency is also improved.

  The work vehicle of the present invention is provided with light irradiation means connected to the control means on the top of the mast, and the movable range is visible on the floor surface around the traveling body by the light emitted from the light irradiation means. It is displayed as an image.

  With the above-described configuration, the workable range displayed on the floor surface can be worked so as not to exceed the load or tools, so that safety is further improved and there is no need to look at the display means during work. Therefore, it is particularly suitable for a small work vehicle in which one worker often performs work while operating the work machine in the vicinity of the work machine.

  In the work vehicle of the present invention, the display unit displays numerically the distance from the work vehicle image to the movable range and the distance from the tip of the work machine image to the movable range over a plurality of points. .

  According to the above-described configuration, it is possible to easily grasp how much the moving range is later, based on the numerical value displayed on the display means, so that work near the limit of the movable range can be performed safely and efficiently.

  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 load detection means for detecting a load applied to a universal crane, comprising: an attached universal crane; an operation means provided on the traveling body; and an operation means for performing a traveling operation of the traveling body and an elevating operation of the elevating means. Turning angle detection means for detecting the turning angle of the universal crane, control means for calculating a movable range of the flexible crane from the load detected by the load detection means and the turning angle detected by the turning angle detection means, and control means Display means for superimposing and displaying the movable range obtained by the work vehicle image and the work machine image, and a floor surface around the traveling body by a control signal provided on the top of the mast and output from the control means By irradiating a light beam, the movable range is obtained by construction and a light irradiating means for displaying as a visible image.

With the above-mentioned configuration, when lifting and transporting heavy loads such as heavy construction materials on a free crane or attaching a tool such as a crushing tool to work, the workable range where the tip of the free crane is displayed on the display means By working so as not to deviate from the above, even if unloading to the side of the traveling body or working with a tool on the side of the traveling body, the posture of the traveling body will not become unstable or fall over Because unloading work and work with tools etc. can be done safely, and the workable range displayed according to the load applied to the universal crane is automatically changed, work can be done without worrying about the load, Work efficiency is also improved.
In addition, since it is possible to work so that suspended loads and tools do not exceed the workable range displayed on the floor, safety is further improved and it is not necessary to look at the display means during work. This is suitable for a small work vehicle in which one worker often performs work while operating the work machine in the vicinity of the work machine.

  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 attaching a tool such as a crushing tool to work, the tip of the free crane is connected to the display means or floor. By working so as not to deviate from the workable range displayed on the surface, the posture of the traveling body becomes unstable even when unloading to the side of the traveling body or working with a tool on the side of the traveling body Since it does not fall or fall over, it is possible to safely carry out unloading work and tools.

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 view showing a display example of the display means, FIG. 4 is an explanatory view showing another display example of the display means, and FIG. It is an effect explanatory view at the time of performing work using.
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 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 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. ing.

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 displays the turning position of the universal crane 21 as a work implement image 36b on the display means 35 described later.
A load detecting 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 45 are suspended from the load detecting 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 detection 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 makes the first and second angle detection means 25, The workable range of the universal crane 21 is calculated from the turning angle detected by the load 26 and the load detected by the load detection means 28, and displayed on the display means 35 as the workable range 36c.
The display means 35 is formed of a liquid crystal display or the like, and is installed on the upper part of the machine room 8. A display surface 35a is provided on the operation lever 6a side so that it can be easily seen when operating the operation lever 6a. It is inclined.
As shown in FIG. 3, the display surface 35a of the display means 35 includes a work range display unit 36 for displaying a work area, a laser irradiation start button 37a, a weight teaching button 37b, a weight value input button 37c, a numeric keypad 37d, and the like. An operation button group 37 composed of touch sensors and a mast height display section 38 for displaying the height of the mast 13 are displayed.

A work vehicle image 36 a and a work machine image 36 b are displayed on the work range display unit 36, and a work machine image 36 b is also displayed as a moving image in conjunction with the operation of the universal crane 13. Around the image 36a, the workable range 36c at the tip of the universal crane 21 corresponding to the load is displayed as an ellipse, the distance 36d from the work vehicle image 36a to the workable range 36c, and the tip of the work machine image 36b The distance 36e from the working range 36c to the workable range 36c is displayed numerically over a plurality of points, and the weight of the suspended load 30 suspended by the universal crane 21 is displayed as the load weight 36f, for example, in the right corner of the work range display unit 36. It has become so.
The mast height display section 38 is formed by a scale 38a that is long in the vertical direction, and the height 38b is displayed by a numeral on the side of the scale 38a. The mast height display section 38 includes a rotary encoder or the like installed in the vicinity of the mast 13. The pointer 38c of the scale 38a moves in the vertical direction in response to a signal from a height detecting means (not shown).

On the other hand, at the upper end of the mast 13, for example, a light irradiation means 41 for displaying the workable range 40 as a visible image on the floor surface around the traveling body 1 by a laser beam is installed.
The light irradiation means 41 is provided together with an alarm means 43 on a turntable 42 installed at the center of the upper end of the mast 13, and the control means 10 turns the turntable 42 and controls the irradiation angle of the light irradiation means 41. As a result, the irradiation direction and the irradiation angle of the laser beam can be arbitrarily set, as shown in FIG. 2 in the substantially same range as the workable range 36c displayed on the work range display unit 36 of the display means 36. The workable range 40 is displayed as a visible image.
A battery chamber 9 also serving as a counterweight is provided at the rear portion of the traveling body 1, and a battery for supplying power to the driving means, the control means, and the hydraulic pressure generating means (both not shown). ) Is housed.
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 of carrying the suspended load 30 made of heavy materials such as construction materials with the work vehicle configured as described above will be described. For example, a work vehicle used in a construction site such as a building has mobility 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 lift plate 17 is lifted, and the free crane 21 attached to the lift plate 17 is lifted while maintaining the horizontal state, so that the suspended load 30 is lifted. At this time, the load detection means 28 detects the weight 36f of the load on the work range display section 36 by pressing the weight teaching button 37b displayed on the display surface 35a of the display means 35. The actual weight of the suspended load 30 is displayed, and the work range display unit 36 displays a workable range 36c.
If the weight of the suspended load 30 is known in advance, it may be input directly from the numeric keypad 37d.

Next, the traveling speed control switch 6b is operated to cause the traveling body 1 to travel to the destination and carry the suspended load 30. When reaching the destination, the universal crane 21 is moved horizontally around the pins 21c and 24. Bending and unloading the suspended load 30 to a predetermined place. When the suspended load 30 is heavy, the posture of the traveling body 1 becomes unstable or falls depending on the position of the tip of the universal crane 21. Sometimes.
In order to prevent this, when the cargo handling work is performed by one person, the laser irradiation start button 37a is pressed to operate the light irradiation means 41, and the floor surface around the traveling body 1 is irradiated with a laser beam as shown in FIG. The workable range 40 is displayed as an elliptical visible image.
And in this state, the free crane 21 is bent so that the suspended load 30 does not go outside the workable range 40 displayed on the floor surface, the suspended load 30 is moved, and unloading is performed to a predetermined place. When the suspended load 30 exceeds the workable range 40 during the unloading operation, the alarm means 43 generates an alarm with a sound, a red light, or the like. Therefore, an alarm is issued so that the suspended load 30 does not exceed the workable range 40. By performing the work so as not to occur, the unloading work can be performed safely and quickly, and the unloading work can be performed without changing the direction of the traveling body 1, so that the unloading work can be performed efficiently in a short time.

The above is the operation when the suspended load 30 such as construction material is transported by the work vehicle. The operation when the crushing tool 45 is suspended from the tip of the universal crane 21 to crush the building wall 46 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 46 so that the traveling of the traveling body 1 is not hindered so that the traveling direction is parallel to the wall 46. The traveling speed of the traveling body 1 is set to a speed suitable for crushing work.
Next, the traveling body 1 is moved in the crushing direction of the wall 46 with the operator holding the crushing tool 45, and the crushing operation of the wall 45 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 45 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, during the crushing operation, the laser irradiation start button 37a is pressed to operate the light irradiation means 41, and the floor surface around the traveling body 1 is operated with the laser beam as in the case of carrying the suspended load described above. The possible range 40 is displayed as an elliptical visible image.
In this state, the crushing tool 45 is moved while bending the universal crane 21 so that the crushing tool 45 does not go outside the workable range 40 displayed on the floor surface, and the crushing work is performed on the wall 46. When the crushing tool 45 exceeds the workable range 40 during work, the alarm means 43 generates an alarm with a sound, a red light or the like, so that the alarm is not issued so that the crushing tool 45 does not exceed the workable range 40. By working in this way, it becomes possible to prevent the posture of the traveling body 1 from becoming unstable or falling over during the crushing work.

As shown in FIG. 4, the allowable range 36g is displayed with, for example, a dotted line on both sides of the workable range 36c displayed on the work range display unit 36 of the display means 36, and the allowable range width 36h is numerically displayed. Thus, it is possible to easily grasp how much later the moving range is, based on the numerical value displayed on the work range display unit 36. Therefore, even when the work range is expanded to the limit, it is possible to safely handle and crush Work can be done.
Although the display means 35 is provided in the upper part of the machine room 8, it may be provided separately at a position that is easy to see when working with the universal crane 21, and the separately provided display means 35 is used by using a stand or the like. You may make it install in the position which does not get in the way.
Further, in the above embodiment, the battery chamber 9 is also used as a counterweight. However, the counterweight may be manufactured by a heavy object and attached to the rear portion of the traveling body 1. While it may be a wheel, the suspended load 30 and the crushing tool 31 are suspended by the suspension means 29 at the tip of the universal crane 21, but handling means for gripping the attachment 20 such as the crushing tool 31 may be attached. .

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 explanatory drawing which shows the example of a display of the display means provided in the work vehicle which becomes embodiment of this invention. It is explanatory drawing which shows another example of a display of the display means provided in 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 detection means 26 Turning angle detection means 28 Load detection means 30 Suspended load 35 Display means 36a Work vehicle image 36b Work machine image 36c Workable range 41 Light irradiation means

Claims (4)

  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 load detecting means for detecting a load applied to the universal crane, comprising a crane and an operation means provided on the traveling body and operating the traveling body and operating the lifting means. Turning angle detection means for detecting the turning angle of the universal crane; and control means for calculating a movable range of the universal crane from the load detected by the load detection means and the turning angle detected by the turning angle detection means; A work vehicle comprising: display means for displaying the movable range obtained by the control means so as to overlap the work vehicle image and the work machine image.   A light irradiation means connected to the control means is provided on the top of the mast, and the movable range is displayed as a visible image on the floor around the traveling body by the light rays emitted from the light irradiation means. The work vehicle according to claim 1.   The distance between the work vehicle image and the movable range and the distance from the tip of the work machine image to the movable range are numerically displayed on the display means over a plurality of points. Work vehicle as described in. 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 load detecting means for detecting a load applied to the universal crane, comprising a crane and an operation means provided on the traveling body and operating the traveling body and operating the lifting means. Turning angle detection means for detecting the turning angle of the universal crane; and control means for calculating a movable range of the universal crane from the load detected by the load detection means and the turning angle detected by the turning angle detection means; , Display means for displaying the movable range obtained by the control means superimposed on the work vehicle image and the work machine image, and provided at the top of the mast and output from the control means. By irradiating a light beam on the floor around the running body by the control signal, the work vehicle, characterized in that the movable range and a light irradiating means for displaying as a visible image.

Images