JP2008143606A - Control device for working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily perform jack grounding work while ensuring safety like an expert even by a worker inexperienced in grounding jacks. <P>SOLUTION: A control device 100 for a vehicle 1 for high lift work has the jacks 8 disposed at the front, rear, right and left of a vehicle body 2 to support the vehicle body 2; a jack operation control circuit 32 performing operation control of the jacks 8; a grounding detector 21 detecting grounding of the jacks 8; a grounding situation determining circuit 33 determining an ungrounded part of the jack 8 based on detected information by the grounding detector 21; and a display device 80 displaying the jack 8 to be moved for contraction by the control of the jack operation control circuit 32 to ground the ungrounded jack 8 according to the ungrounded part determined by the grounding situation determining circuit 33 when the grounding situation determining circuit 33 determines that at least one jack 8 out of the front, rear, right and left jacks is ungrounded in the elongated state of the jacks 8. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a control device for a work vehicle that includes jacks that are disposed on the front, rear, left, and right sides of a travelable vehicle body and support the vehicle body.

The work vehicle as described above is provided with a work device such as a boom and a work table on the vehicle body, and is configured to move the work table to a desired or arbitrary work position by hydraulically operating the work device. ing. Also, on the front, rear, left and right sides of the vehicle body, there are jacks that are widened outward in the left-right direction and retractable below the vehicle body. Jack operation means (jack operation lever) provided on the vehicle body when working at high places To move the jack to the outside and downward of the vehicle body, and to ground all four jacks, the vehicle body falls due to its own weight, the load acting on the tip of the boom, etc. The vehicle body can be supported against a moment acting in the direction of movement (see, for example, Patent Document 1).
JP 2003-128393 A

  By the way, in order to work at a high place, the work vehicle was moved to a place such as an uneven road surface or a shoulder by repeating road construction, and all front, rear, left and right jacks were overhanged on such a road surface. However, all four jacks may not necessarily be grounded depending on the road surface condition. In such a case, in the past, the worker adjusted the extension amount of the front, rear, left, and right jacks at his / her own discretion (by extending or contracting) and grounding all these jacks to stabilize the vehicle body. Be supported. However, in order to ground all the jacks, it is determined which one of the jacks is extended or retracted, for example, when an ungrounded jack is extended to the maximum extended state, which of the remaining jacks that are grounded is reduced. It is difficult to determine whether to move it by looking at the tilted state of the vehicle body or looking at the expansion / contraction state of the jack, so it is difficult unless you are an experienced expert. To make contact with the ground, it was necessary to repeat the cumbersome jacking operation.

  If there is a jack that is not grounded due to road conditions even if all the jacks are overhanging, work by placing a jack base under the jack that is not grounded (between the lower end of the jack and the road surface). In some cases, the work vehicle is provided with a function that prompts the user to place the jack base under the jack that is determined to have insufficient extension for grounding, for example, a function that is displayed on a display device provided on the vehicle body. It has been. However, if the operator extends the jack without noticing the indication to put the jack base displayed on the display device, it will be noticed that there is a jack that does not contact the ground when the jack is fully extended. In order to secure a space for inserting the jack base, it is necessary to perform a troublesome operation such as once the jack is contracted, the jack base is installed, and then the jack is extended again.

  In view of the above problems, in the present invention, even a worker who is unfamiliar with the grounding work of the jack can easily ground the jack without requiring troublesome operations while ensuring safety in the same manner as a skilled worker. It is an object of the present invention to provide a work vehicle control device capable of working.

  In order to solve the above-described problems, a control device for a work vehicle according to the present invention (for example, an aerial work vehicle 1 in the embodiment) includes a vehicle body that is disposed to be extendable and retractable below the vehicle body in the front, rear, left, and right sides of the vehicle body. A control device for a work vehicle having a jack to support and a jack operation control means (for example, a jack operation control circuit 32 in the embodiment) for controlling the operation of the jack, the jack being provided on each jack. A ground detection means (for example, the ground detector 21 in the embodiment) for detecting the grounding of the jack, and a ground condition determination means (for example, a ground condition in the embodiment) for determining an ungrounded portion of the jack based on detection information by the ground detection means With the determination circuit 33) and the jack extended, at least one of the front, rear, left and right jacks is not Display means for displaying the jack to be reduced by the control of the jack operation control means to ground the ungrounded jack according to the ungrounded location by the judgment of the grounding status judging means when it is judged that the ground is grounded (For example, the display device 80 in the embodiment).

  In the control device for a work vehicle having the above-described configuration, when the grounding state determination means determines that one of the left and right jacks on the front side is ungrounded, the left and right two on the rear side that are grounded The jack on the same side as the ungrounded jack is displayed on the display means as a jack to be reduced and one of the two left and right jacks on the rear side is ungrounded by the grounding status judging means. When it is determined that the jack is not grounded among the rear jacks, it is preferably displayed on the display means as a jack to be reduced.

  Further, the work vehicle control apparatus having the above-described configuration includes an inclination angle detection means (for example, the inclination angle detector 22 in the embodiment) for detecting the inclination angle of the vehicle body, and at least one jack is provided by the ground contact state determination means. If it is determined that it is not grounded, the jack whose remaining tilt angle is approximately horizontal by reducing the remaining grounded jack is reduced based on information detected by the tilt angle detecting means. It is preferably displayed on the display means as a jack to be moved.

  Furthermore, in the control apparatus for a work vehicle having the above-described configuration, jack operating means (for example, the jack operating lever 15 in the embodiment) that performs an operation for operating the jack, and a jack that restricts the operation control of the jack by the jack operating control means. An operation restricting means (for example, the jack operation restricting circuit 34 in the embodiment), and the jack to be reduced is reduced according to the operation of the jack operating means, so that the ungrounded jack is grounded. When detected by the ground contact detection means, the operation of the jack is preferably restricted by the jack operation restriction means regardless of the operation of the jack operation means.

  According to the control device for a work vehicle according to the present invention, if all four jacks are not grounded due to the road surface condition even if the jacks are extended, which jack should be reduced in order to ground all the jacks. Are displayed on the display means. For this reason, if the operation of reducing the jack according to such a display is performed, all jacks can be grounded without determining which jack is reduced by the operator. Even an unskilled worker who is not familiar can easily ground the jack while ensuring safety in the same manner as a skilled worker.

  In addition, when there is an ungrounded jack, even if the ungrounded jack is a jack on either the front or back side, the rear jack is displayed on the display means as a jack to be reduced. By reducing the movement of the vehicle, it is possible to prevent the vehicle body from turning forward. Thereby, when the vehicle body is turned forward, it is possible to prevent the front wheels not provided with the braking device from coming into contact with the vehicle and making it easier for the vehicle to escape forward.

  In addition, by configuring the display means to display as a jack to be reduced based on the detection information from the tilt angle detection means, all the front, rear, left and right jacks can be grounded, and the jack is grounded. Since the vehicle body can be made substantially horizontal in the state, the vehicle body can be more stably supported by the grounded jack even at a work site where the road surface condition is poor.

  Further, when the jack displayed on the display means as the jack to be reduced is reduced according to the operation of the jack operating means, and the grounding of the ungrounded jack is detected, the operation of the jack operating means is performed. Regardless of the operation of the jack, the jack that was initially ungrounded due to the fact that the jack that had been reduced and moved more than necessary exceeded the reduction amount sufficient to ground all the jacks. It is prevented that other jacks are not grounded.

  Hereinafter, a preferred embodiment of a control device for a work vehicle according to the present invention will be described with reference to FIGS. FIG. 1 shows an aerial work vehicle as an example of a work vehicle equipped with the control device. The aerial work vehicle 1 can travel with front and rear wheels 3a and 3b on the front, rear, left and right sides of the vehicle body 2, and is constructed based on a truck vehicle having a driving cabin 2a at the front of the vehicle body 2. On the vehicle body 2 of the truck vehicle, a turntable 4 that is driven by a turn motor 51 and configured to be able to turn horizontally is disposed. The base 5 is pivotally connected to the swivel 4 and a boom 5 is attached. The boom 5 is moved up and down by a hoisting cylinder 52. The boom 5 is configured such that the base boom 5a, the intermediate boom 5b, and the distal boom 5c are combined in a nested manner, and the boom 5 as a whole can be expanded and contracted in the longitudinal axis direction by a built-in expansion cylinder 53.

  The tip boom 5c has a boom head 5d at the tip, and a vertical post member 6 is pivotally attached to the boom head 5d so as to be swingable up and down. The vertical post member 6 is controlled by swinging of the vertical post member 6 by a leveling cylinder (not shown) disposed between the tip of the front end boom 5c or the boom head 5d and the vertical post member 6, and the boom 5 is raised and lowered. In any case, the vertical post member 6 is controlled to swing so that the vertical post member 6 always extends vertically. The work table 7 is attached to the vertical post member 6 that is always held vertically in this manner so that it can be swiveled horizontally (swing freely) by the swing motor 54. Holds horizontally.

  In addition, an operation lever for operating the boom 5 to move (turn up and down, extend and retract) the swivel 4 and to rotate the work 7 (neck vibration) is provided on the workbench 7. An upper operation device 11 is provided, and an operator who rides on the work table 7 operates the operation lever of the upper operation device 11 to freely move the boom 5 up and down and expand and contract. The boom 5) is swiveled, and the work table 7 is vibrated in the neck, so that the work table 7 can be moved to a desired or arbitrary high position.

  The vehicle body 2 is provided with jacks 8 that are widened outwardly in the left-right direction and retractable below the vehicle body 2 at four locations on the front, rear, left, and right sides of the vehicle body 2. The vehicle body 2 can be stably supported by projecting left and right and extending downward. The jack 8 can be operated as described above by operating a jack operating lever 15 of a lower operating device 14 that protrudes upward from a rear end portion of the vehicle body 2. The jack operating lever 15 is swingable in the front-rear direction of the vehicle body 2. When the lever 15 is tilted forward from the neutral state, the jack 8 is retracted. When the lever 15 is tilted rearward from the neutral state, the jack 8 is The operation of the jack 8 stops when the lever 15 which has been extended and returned to the neutral state is returned to the neutral state. At the center of the vehicle body 2, a boom receiver 9 that is in contact with the lower surface of the boom 5 that has fallen in a fully contracted state and stores and supports the boom 5 is disposed so as to protrude upward.

  Further, as shown in FIG. 3, the lower operation device 14 is provided with an automatic operation switch 16 that can be turned on and off to automatically control the jack 8. With the automatic operation switch 16 turned on, the jack operation lever 15 (this is not limited to the operation lever type but may be the operation switch type) is operated so that the jack 8 extends. Then, the front, rear, left and right jacks 8 are all extended to a preset extension amount, and when the jack operating lever 15 is operated so that the jack 8 is reduced, the jacks 8 are reduced. It is stored in the vehicle body 2. On the other hand, when the automatic operation switch 16 is turned off, the control is switched to manual control of the jack 8. In this case, the jack 8 is extended or contracted according to the operation amount from the neutral state of the jack operating lever 15. .

  A display device 80 (see FIG. 4) that is visible to an operator who operates the lower operation device 14 is provided at the rear end of the vehicle body 2 and in the upper right of the lower operation device 14 (see FIG. 4). It is only necessary to be installed in the vicinity of the lower operation device 14 so that it can be seen while operating the lower operation device 14.) The ground or ungrounded state of the front, rear, left and right jacks 8, 8,. It is displayed by turning on, turning off, or blinking the provided lamp.

  A jack base storage box 70 capable of storing the jack base 60 is attached to the upper part of each of the front, rear, left and right jacks 8 (upper part of the outer post constituting the jack 8). The jack base 60 has a rectangular plate shape as shown in FIG. 2. When the jack base 60 is not used, the jack base 60 is stored in a jack base storage box 70 provided on the upper portion of the jack 8. When the jack base 60 is used when the body 8 supports the vehicle body 2, the jack base 60 is taken out of the jack base storage box 70 and provided at the lower end of the jack 8 (at the lower end of the inner post constituting the jack 8). It is laid between the grounding plate 8a and the ground. Thereby, compared with the case where the jack base 60 is not used, the ground pressure is reduced, and the vehicle body 2 can be supported more stably. On the side surface of the jack base 60, a handle 61 is provided so that an operator can take it out of the jack base storage box 70 and carry it conveniently. The place where the jack base storage box 70 is attached is not limited to the upper part of each jack 8 as shown in FIG. 1, but is near the jack 8 on the vehicle body 2 and is convenient for the operator to take out or store. Any place is acceptable.

  As shown in FIG. 3, the upper operation device 11 has a boom operation lever 12 and a swing operation lever 13. In response to the operation of the boom operation lever 12, an operation signal for raising, lowering, turning and extending / contracting the boom 5 is output from the boom operation lever 12 to the controller 30 provided in the vehicle body 2. Further, an operation signal for causing the work table 7 to vibrate is output from the swing operation lever 13 to the controller 30 in response to the operation of the swing operation lever 13. As the jack operating lever 15 of the lower operating device 14 is operated, an operation signal for extending and retracting the jack 8 is output from the jack operating lever 15 to the controller 30 provided in the vehicle body 2. As the automatic operation switch 16 of the lower operation device 14 is turned on / off, a switching signal for automatically or manually controlling the jack 8 is output to the controller 30.

  The control device 100 according to the present invention includes a grounding detector 21, an inclination angle detector 22, a storage detector 23, a controller 30, and a hydraulic unit 40 in addition to the operation devices 11 and 14 as described above. .

  The grounding detector 21 is composed of limit switches respectively disposed on all four jacks 8, 8,... In the front, rear, left and right, and when the jack 8 extends to stably support the vehicle body 2 from the ground. The received ground reaction force is detected, and a detection signal as an ON signal is output to the controller 30. The tilt angle detector 22 detects the tilt angle of the vehicle body 2 and outputs a detection signal corresponding to the tilt angle to the controller 30. The storage detector 23 includes a limit switch provided in a jack base storage box 70 that stores the jack base 60. The storage base 23 is placed outside the jack base storage box 70 from the state in which the jack base 60 is stored in the jack base storage box 70. When issued, the limit switch is activated to output a detection signal as an ON signal to the controller 30.

  When the operation levers of the upper operation device 11 and the lower operation device 14 are operated, the controller 30 receives operation signals output from the operation levers of the operation devices 11 and 14 and outputs a control signal to the hydraulic unit 40. The operations of the swivel base 4, the boom 5, the work table 7 and the jack 8 are controlled. The hydraulic unit 40 controls supply / discharge of hydraulic oil to / from the jack actuator 55 and the like based on a control signal from the controller 30.

  Then, the swing motor 51 that swings the swivel 4 configured as described above, the hoisting cylinder 52 that moves the boom 5 up and down, the telescopic cylinder 53 that expands and contracts the boom 5, and the work table 7 vibrate (swivel). The operation of the swinging motor 54 and the jack actuator 55 for expanding and contracting the jack 8 can be driven by transmitting a driving force of an engine (not shown) disposed on the vehicle body 2 for running the aerial work vehicle 1. This is done by controlling the supply and discharge of the hydraulic oil discharged from the hydraulic pump P.

  In addition to the oil tank T and the hydraulic pump P, the hydraulic unit 40 includes a swing control valve 41, a swing control valve 42, a telescopic control valve 41, a swing cylinder 52, a telescopic cylinder 53, a swing motor 54, and a jack actuator 55, respectively. A control valve 43, a swing control valve 44, and a jack actuator control valve 45 are provided. Then, the supply / discharge control of the hydraulic oil flowing to the jack actuator 55 and the like is performed in accordance with a control signal from the controller 30. The swing control valve 41, the undulation control valve 42, the expansion / contraction control valve 43, and the swing control valve in the hydraulic unit 40. 44 and the jack actuator control valve 45 are controlled by controlling the valve opening.

  The controller 30 includes a boom operation control circuit 31, a jack operation control circuit 32, a grounding state determination circuit 33, and a jack operation restriction circuit 34.

  The boom operation control circuit 31 outputs a control signal to the hydraulic unit 40 to control the opening degrees of the swing control valve 41, the undulation control valve 42 and the expansion / contraction control valve 43 in the hydraulic unit 40, and the boom 5 swings. Controls undulation and expansion and contraction. Further, the jack operation control circuit 32 outputs a control signal to the hydraulic unit 40 to control the valve opening degree of the jack actuator control valve 45 in the hydraulic unit 40, thereby controlling the expansion and contraction movement of each jack 8, 8,. I do.

  The ground state determination circuit 33 determines the ungrounded portion of the jack 8 based on the detection signal output from the ground detector 21, and the remaining three jacks that are grounded to ground all the front, rear, left, and right jacks 8. It is determined which of the 8 jacks 8 should be reduced.

  The jack operation restriction circuit 34 outputs a restriction signal to the jack operation control circuit 32 to restrict the output of the control signal from the jack operation control circuit 32 to the hydraulic unit 40, so that the jacks 8, 8,. It is possible to restrict expansion and contraction.

  As shown in FIG. 4, the display device 80 is arranged on the display panel 85 attached to the rear end of the vehicle body 2 and in the vicinity of the lower operation device 14 so as to correspond to the front, rear, left and right jacks 8, 8,. There are four display lamps including a left front display lamp 81, a left rear display lamp 82, a right front display lamp 83, and a right rear display lamp 84. These display lamps 81 to 84 are turned on, turned off, or blinked according to the determination by the grounding state determination circuit 33.

  The buzzer 90 is informed when the operation of the jack 8 is restricted by an alarm operation when the expansion / contraction movement of the jack 8 is restricted by the jack operation restriction circuit 34. Is possible.

  The configuration of the control device 100 according to the present invention has been described above. Hereinafter, operation control of the jack 8 using the control device 100 will be described.

  First, a first embodiment of the control device according to the present invention will be described.

  After moving the aerial work vehicle 1 with the boom 5 stored on the vehicle body 2 to the work site, the jack operating lever 15 of the lower operation device 14 is operated to extend the front, rear, left and right jacks 8. Here, since the road surface at the work site is an uneven road surface, it is assumed that all the front, rear, left and right jacks 8 are not grounded, the left front jack 8 is ungrounded, and three jacks other than the left front jack 8 are in a grounded state. Here, in order to ground all the jacks 8, there is a method in which either the ungrounded left front jack 8 is extended or the remaining jacks 8 that are grounded are contracted. When any of the remaining jacks 8 that are grounded is contracted, for example, the left front jack 8 that is ungrounded is further increased because the ungrounded left front jack 8 is extended to the maximum extended state. When the extension movement cannot be performed, the controller 100 controls which of the grounded jacks 8 is reduced.

  Detection signals are output from the ground detectors 21 provided on the front, rear, left and right jacks 8 according to the grounding status of the jacks 8, but an off signal is output from the ground detectors 21 provided on the left front jack 8 which is not grounded. And a detection signal as an ON signal is output from the other jack 8 that is grounded. Based on the input of these detection signals, the grounding status determination circuit 33 determines the ungrounded location of the jack 8. By this determination, the left front display lamp 81 corresponding to the left front jack 8 remains off, and the other display lamps 82, 83, 84 are turned on in response to the input of the ON signal.

  When the left front jack 8 is not grounded, it is necessary to reduce one of the left rear and right front jacks 8 in order to ground all the front, rear, left and right jacks 8. ) Is provided on the rear wheel side, so that when the vehicle body 2 is turned forward and the front wheel 3a is grounded, the vehicle easily escapes forward. Here, when the right front jack 8 is contracted, depending on the amount of extension of the right front jack 8, the front wheel 3a is grounded when the vehicle body 2 is turned forward, and the vehicle is likely to escape forward. It is preferable to move the jack 8 on the left rear side in a reduced manner. For this reason, when the grounding state determination circuit 33 of the controller 30 detects that the left front jack 8 is not grounded, the left rear jack 8 should be preferentially contracted to ground the left front jack 8. It judges that it is a thing, a display signal is output to the display apparatus 80, and the left rear display lamp 82 is blinked (refer Fig.4 (a)). An operator who looks at this state can operate the jack operating lever 15 to contract the left rear jack 8 to ground the left front jack 8, thereby grounding all the front, rear, left and right jacks 8. it can.

  On the other hand, when the left rear jack 8 is not grounded, either the left front jack 8 or the right rear jack 8 needs to be contracted to ground all the jacks 8. However, as described above, the vehicle body 2 Depending on the situation, the front wheel 3a may come into contact with the vehicle, and the vehicle may easily escape forward. Therefore, it is preferable to move the right rear jack 8 to a smaller size than the left front jack 8. For this reason, the grounding state determination circuit 33 of the controller 30 determines that the right rear jack 8 should be preferentially reduced when the left rear jack 8 is not grounded by the detection signal. Then, a display signal is output to the display device 80 to blink the right rear display lamp 84 (see FIG. 4B). The operator who sees this state can operate the jack operation lever 15 to reduce the right rear jack 8 so that the left rear jack 8 is grounded and all the jacks 8 are grounded.

  In addition, as described above, not only when one of the front, rear, left and right jacks 8 is ungrounded, but also when two of the front, rear, left and right jacks 8 are ungrounded. For example, even when the left front jack 8 and the right rear jack 8 are not grounded, the grounding state determination circuit 33 determines that the jack 8 to be reduced and moved is the left rear jack 8, and the jack operating lever 15 All the jacks 8 can be grounded by reducing the left rear jack 8 by operation. However, when the two jacks are not grounded, it is considered that the wheels corresponding to the jacks are grounded to support the vehicle body, and therefore the above-described functions may not be used.

  The control device according to the present invention may be an embodiment different from the above-described embodiment, and the second embodiment will be described below with a focus on differences from the above-described example.

  Assume that the aerial work vehicle 1 arrives at the work site, and all the front, rear, left and right jacks 8 are not grounded, the left front jack 8 is ungrounded, and three jacks other than the left front jack 8 are in a grounded state.

  In this case, in order to ground all the four jacks 8, there is a method in which either the ungrounded left front jack 8 is extended or the remaining jacks 8 that are grounded are contracted. In this embodiment, similarly to the first embodiment, when any of the remaining grounded jacks 8 is contracted, the control device 100 controls which of the grounded jacks 8 is contracted. To do.

  As described above, when it is detected that the vehicle body 2 is tilted to the right by the detection signal from the tilt angle detector 22 with the ungrounded jack 8, the grounding state determination circuit 33 Since the road surface is inclined to the right with respect to the vehicle body 2, it is determined that the vehicle body 2 is inclined to the right, and the rear left jack 8 should be reduced to make the vehicle body 2 substantially horizontal. Is determined. As a result, the grounding status determination circuit 33 outputs a display signal to the display device 80 to blink the left rear display lamp 82 (see FIG. 4C). An operator who looks at this state operates the jack operation lever 15 to reduce the left rear jack 8 to ground the left front jack 8 so that all the jacks 8 are grounded, and then the vehicle body 2 is substantially omitted. It can be in a horizontal state.

  Here, although the operator who viewed the state shown in FIG. 4C operated the jack operation lever 15 to reduce the left rear jack 8, the left rear jack 8 reduced more than necessary. In this case, the left front jack 8 is grounded, but the jacks 8 other than the left front jack 8 may be ungrounded against the operator's intention (particularly, the left rear jack 8 to be contracted). In order to prevent this, when the jack operating lever 15 is operated by an operator, the operation of the jack 8 may be controlled as follows.

As shown in FIG. 5, when the left rear display lamp 82 of the display device 80 starts blinking at time t ₁ as shown in FIG. 4C, the operator who sees this state takes the jack operation lever at time t _2. By operating 15, an operation signal as an ON signal is output from the jack operation lever 15 toward the controller 30. A control signal is output from the controller 30 to the jack actuator control valve 45 in response to an operation signal as an ON signal from the jack operation lever 15, and the left rear jack 8 is contracted.

When the left rear jack 8 is grounded at time t ₃ , the jack operation restriction circuit 34 of the controller 30 is jacked at time t ₄ based on the ground detection signal from the ground detector 21 provided in the left rear jack 8. A restriction signal is output to the operation control circuit 32. As a result, the control signal output from the jack operation control circuit 32 toward the jack actuator control valve 45 is cut off, and the reduction movement of the left rear jack 8 is stopped. The control signal output to the jack actuator control valve 45 is restricted, and the blinking state of the left rear display lamp 82 of the display device 80 is switched to the lighting state. As described above, it is possible to prevent the jacks 8 other than the left front jack 8 from being ungrounded due to the rear left jack 8 being reduced more than necessary.

  The operation of the jack 8 is restricted by outputting a restriction signal from the jack operation restriction circuit 34 to the jack action control circuit 32. The output of the restriction signal to the jack action control circuit 32 is output from the jack action restriction circuit 34. Since the time is limited to a preset time after the operation, the operation restriction of the jack 8 is released when the set time elapses, so that the expansion / contraction movement of the jack 8 according to the operation of the jack operation lever 15 is canceled. It is possible to

  Further, the ground contact state determination circuit 33 determines the jack 8 to be reduced based on the inclination angle of the vehicle body 2 by the inclination angle detector 22, and operates the jack operating lever 15 for the determined jack 8 to be reduced. Similarly, when the reduction movement is caused by the above, all the jacks 8 can be grounded after the vehicle body 2 is substantially horizontal by stopping the reduction movement when the desired jack 8 is grounded.

  As mentioned above, although an example of the control device concerning the present invention was shown using Example 1 and Example 2, the present invention is not restricted to the above-mentioned example. That is, the display lamps 81 to 84 of the display device 80 are turned on corresponding to the grounded jack 8 and the display lamps 81 to 84 are turned off corresponding to the ungrounded jack 8. Or off when not grounded). In addition, the display device 80 does not allow the operator to visually recognize the grounded / ungrounded state of the jack 8 but uses the voice to audibly recognize the grounded / ungrounded state of the jack 8. Alternatively, the display device 80 and the buzzer 90 (voice) may be combined to recognize the ground / ungrounded state of the jack 8.

  Further, instead of always displaying the ground / ungrounded state of the jack 8 on the display device 80, a dedicated switch for displaying the state of the jack 8 is provided on the display device 80, and this is displayed when this switch is operated. You may comprise so that the state of the jack 8 may be displayed on the apparatus 80. FIG. Furthermore, instead of displaying using the display device 80, the operation other than the jack 8 determined to be reduced by the grounding state determination circuit 33 may be restricted. In addition, this function may not always be activated, but a selection switch for selecting this function may be provided to activate this function as necessary.

  In addition to the first and second embodiments, the control device according to the present invention may be, for example, the following embodiment. In the following, the third embodiment of the present embodiment will be described mainly with reference to FIG. 6 with a focus on the differences from the above embodiments.

  In this embodiment, when it is determined that the extension amount for grounding the jack is insufficient, the display prompting the user to put a jack base between the jack and the road surface to compensate for the shortage of the extension amount of the jack. In an aerial work vehicle having a function, it is possible to prevent the operator from having to redo the jack operation because the operator has missed the indication to put the jack base and forgot to put the jack base.

  As in the case of the first embodiment, the aerial work vehicle 1 with the boom 5 stored on the vehicle body 2 is moved to the work site. Here, when the road surface of the work site is an uneven road surface, when the vehicle body 2 is tilted without being substantially horizontal, the controller 30 determines whether the front, rear, left and right jacks are based on detection information from the tilt angle detector 22. 8, it is determined whether the jack base 60 should be installed at the lower end of any one of the jacks 8 (step S <b> 1 in FIG. 6), and that effect is displayed on the display device 80. Here, for example, when it is determined that the jack base 60 is necessary for the left front jack 8 due to the inclination of the vehicle body 2, the display lamp 81 is blinked in the display device 80 shown in FIG.

  If it is determined in the determination as to whether or not the jack base 60 should be installed that it is not necessary to install the jack base 60 in any of the front, rear, left and right jacks 8, the automatic operation switch 16 of the lower operation device 14 is used. The jack 8 is automatically controlled by the jack operation control circuit 32 in accordance with the operation of the jack operation lever 15, so that the jack base 60 is not installed under any of the jacks 8. Can be lifted and supported to support the vehicle body 2 (step S2 in FIG. 6).

  On the other hand, when it is determined in step S1 in FIG. 6 that the jack base 60 is necessary for the left front jack 8 as described above, the controller 30 removes the jack from the jack base storage box 70 provided in the left front jack 8. Whether or not the base 60 is extended is determined based on the detection information of the storage detector 23 provided in the jack base storage box 70. Specifically, it is determined whether or not the storage detection signal is output toward the controller 30 (step S3 in FIG. 6).

  Here, when it is determined that the storage detection signal as the off signal is output, the automatic operation switch of the lower operation device 14 is determined as in the case where it is determined that the jack base 60 is not required to be installed. The jack 8 is automatically controlled by the jack operation control circuit 32 in accordance with the operation of the jack operation lever 15 with the jack 16 being turned on, so that the jack 8 can be extended and supported to support the vehicle body 2. This is possible (step S2 in FIG. 6). However, in this case, by installing the jack base 60 at the lower end of the extended jack 8, it is possible to ground all the jacks 8 on the front, rear, left and right.

  When it is determined in step S3 that the storage detection signal is not output, that is, when it is determined that the jack base 60 is not output from the jack base storage box 70 provided in the left front jack 8. The control signal is output from the jack operation control circuit 34 toward the jack operation control circuit 32, so that the output of the control signal from the jack operation control circuit 32 to the hydraulic unit 40 is controlled. Thereby, the action | operation of the jack 8 is controlled (step S4 of FIG. 6). In a state where the operation of the jack 8 is restricted, the buzzer 90 performs an alarm operation (step S5 in FIG. 6) to notify the operator who operates the lower operation device 14 that the operation of the jack 8 is restricted. Is possible. In this state, even if the jack operating lever 15 of the lower operating device 14 is operated, the operation of the jack 8 is restricted as described above, and therefore the jack 8 cannot be extended.

  If it is determined that the jack base 60 is necessary for the left front jack 8, the operation restriction of the jack 8 is released as follows. When an operator viewing the blinking display lamp 81 in the display device 80 takes out the jack base 60 from the jack base storage box 70 provided in the left front jack 8, a storage detection signal is output to the controller 30. The As a result, the output of the restriction signal from the jack operation restriction circuit 34 to the jack operation control circuit 32 is stopped, so that the operation restriction of the jack 8 is released. Then, the operator can extend the jack 8 by automatically controlling the jack 8 by operating the jack operating lever 15. At this time, since the jack base 60 is installed in advance even if the road surface is uneven, it is possible to support the vehicle body 2 with all of the front, rear, left and right jacks 8 grounded.

  As described above, according to this embodiment, when the jack base 60 for compensating for the shortage of the extension amount of the jack 8 is necessary, the operator can place the jack 8 under the jack 8 by restricting the expansion / contraction operation of the jack 8. It is possible to recognize that the jack base 60 should be installed. For this reason, after the jack 8 is extended to the maximum extended state, it is noticed that there is not enough extension to ground the jack 8, and the jack 8 is temporarily reduced to install the jack base 60. It is possible to eliminate a troublesome jack operation such as putting 60 under the jack 8 and restarting the extension operation of the jack 8.

  The present embodiment is not limited to the above-described embodiment. When it is determined that the jack base 60 is necessary for the left front jack 8, the jack base storage box 70 provided in the left front jack 8 is used as a jack. Rather than determining whether the base 60 is extended, the jack base 60 is extended from at least one jack base storage box 70 among the jack base storage boxes 70 provided in the front, rear, left, and right jacks 8. When it is detected that the operation is not performed, the operation of the jack 8 may be restricted by the jack operation restriction circuit 34, and the buzzer 90 may be activated.

  Further, when the extension operation of the jack 8 is performed by automatically controlling the jack 8 by turning on the automatic operation switch 16 as described above, the operation of the jack operation lever 15 is not only restricted. When the jack 8 is manually controlled according to the control, the operation of the jack 8 may be regulated in the same manner as in the automatic control.

  As described above, the embodiment of the present invention has been described. For example, a bending boom type aerial work vehicle or a scissor type aerial work vehicle may be used. Among these, the bending boom type aerial work platform is composed of a lower boom that can be raised and lowered on a travelable vehicle body, and an upper boom that is provided at the tip of the lower boom so as to be able to bend and extend with respect to the lower boom. A bending / extending boom is provided, and a work table for the operator's boarding is provided at the tip (of the upper boom) of the bending / extending boom. The work table is provided with operation means for operating the lower boom and the upper boom, etc., and an operator who has boarded the work table can operate the operation means to select his or her own work table. It is possible to work at a high place by moving it to an arbitrary position. On the other hand, a scissor-type aerial work vehicle has a scissor link device pivoted so as to cross a plurality of arm members extending in the front-rear direction on the chassis, and on the scissor link apparatus, it is almost the same as the chassis in plan view. A work table of the same size is attached, and the work table is moved up and down by moving the scissor link device up and down by an extension cylinder disposed between the chassis and the scissor link device. Any of the above-mentioned high-altitude work vehicles can display the ungrounded jack on the display device by the control device according to the present invention, so that even a non-expert can easily perform grounding work of the jack while ensuring safety. Is possible.

It is a perspective view of a work vehicle provided with the control device concerning the present invention. It is a perspective view which shows the jack base installed in the lower end of the jack provided in the said working vehicle. It is a block diagram which shows the structure of the said control apparatus. It is a figure which shows the display apparatus provided in the vehicle body of the said working vehicle, (a)-(c) is a figure which shows a mode that the display lamp of a display apparatus lights up, extinguishes, and blinks. It is a graph which shows a time-dependent change of the various signals etc. in the action | operation control of the jack by the said control apparatus. It is a flowchart which shows the action | operation control of the jack by the said control apparatus.

Explanation of symbols

1 High-altitude work vehicle (work vehicle)
2 Body 4 Swivel 5 Boom 5a Base boom 5b Intermediate boom 5c End boom 7 Work table 8 Jack 11 Upper operation device 12 Boom operation lever 13 Swing operation lever 14 Lower operation device 15 Jack operation lever (jack operation means)
16 Automatic operation switch 21 Grounding detector (grounding detection means)
22 Inclination angle detector (Inclination angle detection means)
23 Storage detector 30 Controller 31 Boom operation control circuit 32 Jack operation control circuit (jack operation control means)
33 Grounding status judgment circuit (grounding status judgment means)
34 Jack operation restriction circuit (jack operation restriction means)
41 swing control valve 42 undulation control valve 43 telescopic control valve 44 swing control valve 45 jack actuator control valve 51 swing motor 52 hoisting cylinder 53 telescopic cylinder 54 swing motor 55 jack actuator 60 jack base 70 jack base storage box 80 display device Display means)
90 Buzzer 100 Control device

Claims (4)

Control of a work vehicle comprising a jack that is disposed to extend and retract below the vehicle body on the front, rear, left, and right sides of the travelable vehicle body and supports the vehicle body, and a jack operation control means that controls the operation of the jack. A device,
A grounding detecting means provided on each of the jacks to detect the grounding of the jack;
A grounding condition judging means for judging an ungrounded portion of the jack based on detection information by the grounding detecting means;
In order to ground the ungrounded jack when the grounding status determining means determines that at least one of the front, rear, left and right jacks is ungrounded in a state where all the jacks are extended A work vehicle comprising: a display unit configured to display a jack to be reduced by the control of the jack operation control unit according to the ungrounded location determined by the grounding status determination unit. Control device. The ungrounded jack of the two left and right jacks that are grounded when the grounding status judging means determines that one of the two left and right jacks on the front side is ungrounded. And the jack on the same left and right side is displayed on the display means as a jack to be reduced,
When it is determined by the grounding state determination means that one of the two left and right jacks on the rear side is ungrounded, the jack on the rear side that is not grounded is reduced. The work vehicle control device according to claim 1, wherein the work vehicle control device is displayed on the display unit as a power jack. Inclination angle detection means for detecting the inclination angle of the vehicle body,
When at least one of the jacks is determined to be ungrounded by the ground contact state determination means, the inclination angle of the vehicle body becomes substantially horizontal by reducing the remaining of the grounded jacks. 2. The work vehicle control device according to claim 1, wherein the one of the jacks is displayed on the display unit as a jack to be reduced based on information detected by the tilt angle detection unit. Jack operation means for performing an operation for operating the jack;
Jack operation regulation means for regulating the operation control of the jack by the jack operation control means,
When the grounding of the jack that has not been grounded is detected by the grounding detection means by the contraction movement of the jack to be contracted according to the operation of the jack operating means, the jack operating means can be operated. 4. The work vehicle control device according to claim 1, wherein the operation of the jack is regulated by the jack operation regulating means. 5.

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