JP2541484Y2 - Sediment transport truck for work in narrow places - Google Patents

Description

[Detailed description of the invention]

[0001]

The present invention relates to a small-scale earth and sand transport vehicle that transports excavated earth and sand and building materials at a building site in a very limited area such as a densely populated area or a city.
In particular, the present invention relates to a self-propelled earth and sand transport vehicle that can perform transport work well on uneven terrain having many uneven surfaces and complicatedly inclined surfaces.

[0002]

2. Description of the Related Art In general, at a construction site such as a building, a factory, and other public facilities, a large excavator is used to excavate the ground, and the excavated soil is turned by turning a bucket of the excavator. The truck is directly loaded on the bed of a large earth and sand carrier such as a dump truck parked near the building, and is carried out of the construction site. However, in the construction of buildings and houses in extremely limited areas such as densely populated areas and cities, it is difficult to introduce the large-sized power shovels mentioned above. In densely populated areas, the road width is narrow, and large-sized earth and sand vehicles such as dump trucks cannot often be adjacent to the construction site. In recent years, three- or four-story residential buildings are becoming mainstream due to the necessity of effective use of land, and in addition to excavating the ground for earthquake countermeasures and effective use of underground, steel pipe piles are used. And large-scale foundation works are being carried out, and work on the construction sites in the above-mentioned narrow places is increasing year by year.

Therefore, in the above-mentioned construction site, a small excavator having a bucket capacity for excavation of about 0.05 m ³ is used in order to improve work efficiency by mechanization of work. In order to reduce labor and improve work efficiency, various types of self-propelled transport vehicles provided with buckets for loading earth and sand on a vehicle body have been sold and used. Among such transport vehicles, there are known those configured to dump buckets loaded with earth and sand in three directions, left, right, and rear.
Japanese Patent Publication No. 38 discloses a transport vehicle in which a bucket is maintained in a horizontal state when climbing and descending an inclined surface so that earth and sand loaded on the bucket do not overflow. Further, Japanese Utility Model Laid-Open No. 55-62468 discloses a self-propelled earth and sand carrier capable of moving up and down a bucket loaded with earth and sand.

[0004] With the advent of such self-propelled sediment transport vehicles, the working conditions and work efficiency of the workers have been greatly improved as compared with the sediment transport operation using a conventional unicycle, but they are loaded on buckets. The work of transferring the collected sediment to the loading platform of a large-sized soil transport vehicle such as a dump truck still has to rely on humans, and the conventional self-propelled small-sized soil transport vehicle has a caterpillar drive system. When traveling on uneven terrain that is mainstream and has many uneven surfaces, the vibration is transmitted directly to the bucket, and the earth and sand full of the bucket may be scattered. For this reason, there is a problem that the conventional earth and sand transport vehicle is not suitable for transport work on uneven terrain having a complicatedly inclined slope and a large number of irregularities, and its use conditions are limited.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems.
It is a sediment transport vehicle that carries out earth and sand generated in civil engineering work in a narrow place, and can run stably even on uneven terrain having a large number of irregularities and a complicated slope, and By configuring the bucket so that it can always be kept horizontal, it is possible to adapt to all use conditions without overflowing the sediment loaded on the bucket, and to make the bucket loaded with the dirt etc. It is an object of the present invention to obtain a sediment transport vehicle that can be moved up to the height of the bed of a large sediment transport vehicle so that dumping can be performed without relying on humans.

[0006]

In order to solve the above problems SUMMARY OF THE INVENTION The present invention is loaded with sediment like a bucket, provided on the vehicle body
A suspension means for a plurality of sediment transport vehicle suitable for the narrow office work you self driven wheels, the plurality of wheels is suspended from the vehicle body independently with the suspension to the suspension means
Wheel driving means for distributing and applying the rotational driving force individually to each of the wheels, and the bucket installed on the upper part of the vehicle body.
Elevating means for ascending and descending, and before and after this bucket
An inclination detecting means for detecting the inclination in the horizontal direction, and the attitude control means attempting to bring the bucket <br/> Tsu DOO a horizontal position when the tilt detection means detects the inclination of the bucket, the bucket
And having a sediment transfer means for driving the pre-Symbol buckets for transferring were stacked in Tsu the preparative gravel or the like in the carrier of large sediment truck. The front Symbol inclination sensing means comprises a rotary potentiometer which outputs a detection value proportional to the inclination of the bucket, the posture of the bucket by processing the output signal from the rotary potentiometer with attitude control means according to the numerical control control may be to Umo rows of.

[0007]

According to the present invention, a plurality of wheels for supporting the vehicle body so as to be able to travel are respectively driven to rotate by driving means.
In addition, since the wheels are so-called independent suspension systems, each of which is suspended from the vehicle body, even on uneven terrain having a large number of irregularities, all the wheels can be driven with the ground contact,
It can run stably. Further, the earth and sand transport vehicle of the present invention has tilt detecting means for detecting the tilt of the bucket, and when the tilt detecting means detects the tilt of the bucket, the bucket attitude control means for returning the bucket to the horizontal state is provided. Because of this, the bucket can always be maintained in a horizontal state even when traveling on an uneven slope. Further, the earth and sand transport vehicle of the present invention raises a bucket loaded with earth and sand while maintaining the horizontal state, and tilts the bucket to transfer the earth and sand to the bed of a large earth and sand transportation vehicle such as a dump truck. Can be performed without relying on humans. If the bucket inclination detecting means is a rotary potentiometer that outputs a detection value proportional to the bucket inclination, the bucket attitude can be controlled by numerical control.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described in detail with reference to the drawings. 1 and 2 show a first embodiment of the earth and sand carrier of the present invention. FIG. 1 is a side view showing a state where a bucket is raised, and FIG. 2 is a view taken in the direction of arrow A in FIG. The soil transport vehicle according to the present invention includes a vehicle body 11, a bucket 12 which can be loaded with soil and the like placed in front of the vehicle body 11 (to the left in the drawing), and a vehicle body 1.
4 for supporting the vehicle body 11 while moving the vehicle forward or backward, and a pair of support arms 13, 13 provided on both sides of the vehicle body 11 for supporting the bucket 12 so as to be able to move up and down from the vehicle body 11. And a control box 14 provided behind the vehicle body 11 and containing a hydraulic pressure generator for generating hydraulic pressure for operating a hydraulic motor and a hydraulic cylinder.

The support arms 13, 13 for supporting the bucket 12 so as to be able to move up and down with respect to the vehicle body 11 have lower support arms 13a, 1 pivotally pivoted at a substantially central portion with a pivot shaft 16.
3b, 13a ', 13'b and the support arms 13a,
An upper support arm 13c, 13'c rotatably attached to one end of 13'a. This upper support arm 1
The other ends of 3c and 13'c are connected to the bottom of the bucket 12 by ball joints 12a and 12'a to support the bucket 12. Lower support arm 13b, one end of 13'b is mounted pivotably near the front edge of the vehicle body, at the other end,
And the lower support arm 13b and 13'b provided on both sides of the vehicle body 11 at the coupling member 17 is connected. Both ends of the connecting member 17 are supported by centering bearings (not shown). The tip of an extendable rod 18a of the hydraulic cylinder 18 is connected to the bottom of the bucket 12 by a ball joint 18b. I support. Lower support arm 1
Guide rolls 13d, 13 'are provided at one end of 3a, 13'a.
with d is attached, the guide groove 11a in the vehicle body 11 along the longitudinal direction of the vehicle body 1 1, (does not appear in the drawings others side) 11'a is being formed, the guide roll 13d, 13 'D is the guide groove 11a, 11'
guide grooves 11a, 11'a so that they can slide along
It is fitted in.

A hydraulic cylinder 1 is provided on a lower frame 11b of the vehicle body 11 to extend and retract the support arms 13, 13 'provided on both sides of the vehicle body 11 so that the bucket 12 can be moved up and down.
9, 19 'are attached. This hydraulic cylinder 1
The base ends of the cylinders 9 and 19 'are rotatably attached to the lower frame 11b, and the distal ends of the extensible rods 19a and 19'a of the hydraulic cylinders 19 and 19' are connected to the lower support arms 13b and 13 '. b to the bearing member 19b,
The shaft is attached via 19'b. The hydraulic cylinders 19, 19 'are connected to separate hydraulic pressure applying systems so that they can operate independently.

FIG. 3 is an exploded perspective view of the traveling device of the earth and sand carrier according to the present embodiment. Four wheels 15, 15,... Enabling the earth and sand transport vehicle 1 to travel are provided on both sides of the lower frame 11b so as to face each other. These wheels 15, 15
.. are axle mounting portions 11c, 11 of lower frame 11b
Wheels 15, 15,... are attached to the tips of axles 21, 21,.
Are provided via hydraulic motors 22, 22... The axles 21, 21
Are supported by the lower frame 11b by hydraulic dampers 23, 23.

FIG. 4 shows a bucket 1 of the earth and sand carrier of the present invention.
FIG. 4 is an explanatory view of an inclination angle detection device 30 attached to the bottom of the second and detecting the inclination angle of the bucket 12. The inclination angle detection device 30 is rotatable around the magnetoresistive element 34 and the same axis having an intermediate tap T ₂ are arranged in a circle to the other terminal T _1, T _3, and slightly Rotary contactless potentiometers 31 and 32 are paired with a semicircular magnet 35 having a large diameter. One of the rotary non-contact potentiometers 31 and the other rotary non-contact potentiometer 32 are arranged at right angles to the bottom of the bucket 12 so that the tilt of the bucket 12 in the left-right direction and the tilt in the front-rear direction can be detected. Then, the tilt angle of the bucket 12 in the left-right direction by the rotary non-contact potentiometer 31,
The rotary non-contact potentiometer 32 detects the inclination angle of the bucket 12 in the front-rear direction. Magnetoresistive element 34 is provided within the casing 33, one of the magnetic <br/> Tsu DOO 35 are to be opposed to the magnetoresistive element 34 is fixed to the rotatable shaft 36. Axis 36 is Yes and rotatably is supported by the cases 33 by a bearing 37, and the weight 3
8 is integrally suspended via a support member 38a.
The resistance of the magnetoresistive element 34 changes due to a change in magnetism. An input power from a power source is applied between the terminals T ₁ and T ₃ , and an output having a value corresponding to a wrap region with the magnet 35 can be obtained. It has become.

FIG. 5 is an explanatory view of the hydraulic drive mechanism of the earth and sand carrier of the present invention. The driving force of the engine 40 (motor)
The oil is transmitted via a shaft 41 to a hydraulic pressure generator 42 mainly composed of a hydraulic pump provided adjacent to the engine 40. The hydraulic pressure generating device 42 includes wheels 15, 15.
The wheel drive system 43 for driving the hydraulic motor 22 (see FIG. 3) for rotating each of them, and the hydraulic pressure of the hydraulic cylinders 19 and 19 'arranged on both sides of the lower frame 11b (see FIG. 2) The bucket 12 includes a bucket lifting / lowering system 44 for raising / lowering the bucket 12 and a bucket tilting system 45 for driving the hydraulic cylinder 18 for tilting (dumping) the bucket 12 in the front-back direction.

The wheel drive system 43 branches into a left wheel drive system 43a for rotating and driving the wheels 15 on the left side of the vehicle body and a right wheel drive system 43b via the oil amount adjusting valve 43c. By operating the oil amount adjusting valve 43c, the left wheel drive system 43a and the right wheel drive system 43b are operated.
By adjusting the amount of oil flowing into the left wheel 15,
The traveling direction of the vehicle body can be changed to an arbitrary direction by making the rotation speed of the right wheel 15 different from the rotation speed of the right wheel 15.

The bucket lifting system 44 includes a left hydraulic cylinder driving system 44a for operating a hydraulic cylinder 19 mounted on the left side of the vehicle body 11, and a right hydraulic cylinder driving system 4
4b. The left hydraulic cylinder drive system 44a and the right hydraulic cylinder drive system 44b are provided with electromagnetic switching valves 44c and 44d, respectively.
By switching between c and 44d, the left and right hydraulic cylinders 19 and 19 'can be operated independently. These electromagnetic switching valves 44c, 44
d is an inclination angle detection device 3 for detecting the inclination of the bucket 12.
It is connected to the attitude control unit 46 communicated with 0, and is operated by a command signal generated by the attitude control unit 46.

The bucket tilt system 45 includes a hydraulic cylinder 18
Has an electromagnetic switching valve 45a for actuating the, the electromagnetic switching valve 45 a is not connected to the previous term tilt angle detecting apparatus 30 posture control unit 46 which is contacted to detect the inclination of the bucket 12, the posture control It is operated by a command signal issued by the unit 46.

Next, the operation of the transport vehicle of the present invention configured as described above will be described. When the engine 40, which is a prime mover, is started at the start of the work, the driving force of the engine 40 is transmitted to the hydraulic pressure generating device 42 via a clutch and a shaft 41 (not shown). Normally, the oil amount adjustment valve 43c is in a neutral position, and the pressure oil flowing into the wheel drive system 43 is equally distributed to the left and right wheel drive systems 43a and 43b by the oil amount adjustment valve 43c. Therefore, the hydraulic motors 22, 22,... For driving the four wheels 15, 15,.
The wheels rotate at the same speed, and the earth and sand transport vehicle 1 can go straight. In order to change the traveling direction of the earth and sand transport vehicle 1 to the left or right, the amount of pressure oil flowing into the left and right wheel drive systems 43a and 43b may be changed by operating the oil amount adjustment valve 43c. Due to this operation, a speed difference occurs between the left wheels 15, 15 and the right wheels 15, 15, and the earth and sand carrier changes the traveling direction to the right or left. When traveling on uneven terrain having many uneven surfaces, the axles 21, 21,... Of the wheels 15, 15,.
.. Are pivoted about the vehicle body 11 with the fulcrum 11c as a fulcrum, and the rods 23a, 23 of the hydraulic dampers 23, 23,.
a .. is contracted to absorb the unevenness of the road surface. By this action, traveling vibration when the transport vehicle 1 travels on uneven terrain is suppressed to a minimum.

The inclination of the bucket 12 in the lateral direction of the vehicle body is as follows.
It is detected by a rotary non-contact potentiometer 31. The rotary non-contact potentiometer 31 transmits a signal proportional to the inclination angle of the bucket 12 in the left-right direction to the attitude control unit 46 by numerical control. The attitude control unit 46 receives and processes this signal and transmits a command signal for operating the electromagnetic switching valves 44c and 44d provided in the bucket lifting / lowering system 44. For example, an inclined surface as shown in FIG.
When the vehicle crosses and travels, the rotary non-contact potentiometer 31 of the inclination angle detection device 30 attached to the lower surface of the bucket 12 detects the inclination of the bucket 12. The detection signal is transmitted to and processed by the attitude control unit 46, and the rod 19'a of the hydraulic cylinder 19 'is extended by a command signal from the attitude control unit 46. Therefore, the bucket 12 is pushed up by the support arm 13 'and one side is lifted from the vehicle body 11 to return the bucket 12 to a horizontal state. The attitude control unit 46 can set and change the set value and the program arbitrarily to not only accurately and promptly respond to the change in the inclination angle of the road surface on which the earth and sand transport vehicle runs, The posture of the bucket 12 is not limited to the horizontal state, and may be maintained at an arbitrary angle.
Similarly, when the earth and sand transport vehicle 1 climbs a slope as shown in FIG. 7, the rotary non-contact potentiometer 32 detects the tilt of the bucket 12 in the front-rear direction of the bucket 12, and the rotary non-contact The electromagnetic switching valve 45a is operated by a command signal of the attitude control unit 46 connected to the potentiometer 32.
Is operated to operate the hydraulic cylinder 15 and the bucket 12
Returns to the horizontal state.

To raise the bucket 12 from the vehicle body 11, the electromagnetic switching valves 44c, 4c are operated by an operation lever (not shown).
4d is simultaneously operated manually. As a result, the electromagnetic switching valves 44c and 44d are simultaneously operated, and the hydraulic cylinder 1
The rods 19a and 19'a of the body 9 and 19 'extend equally, and the bucket 12 is maintained in a horizontal state.
Start rising from 1. After raising the bucket 12 to an appropriate height, the operation lever is again operated to stop the raising of the bucket 12, and then the operation lever (not shown) for operating the electromagnetic switching valve 45a is operated to operate the hydraulic cylinder 1
The bucket 12 is inclined by retracting the rod 15a of No. 5, and the earth and sand loaded on the bucket 12 is dropped and transferred to the bed of the dump car D. After the transfer of the earth and sand is completed, the bucket 12 can be returned to the horizontal state by operating the operation lever. However, the bucket 12 can be returned to the horizontal state by the operation of the rotary non-contact potentiometer 32 without using the operation lever. Automatically returns to the horizontal position. Further, in the present embodiment, if the hydraulic cylinders 19 and 19 'for raising the bucket 12 can be operated by manual operation, respectively, as shown in FIG. It is also possible to transfer the earth and sand to the dump car D by tilting the bucket 12 in either the left or right direction with the earth and sand transport vehicle sideways and the bucket 12 raised. In FIG. 8, reference numeral 12b denotes a guide plate for guiding earth and sand when the earth and the like loaded on the bucket 12 are transferred to the loading platform of the dump truck D.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 9 is a side view showing a state in which the bucket 12 is raised according to a second embodiment of the earth and sand transport vehicle of the present invention, and FIG. 10 is a view taken in the direction of arrow A in FIG. In the figure, the same parts and members as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. The bucket 12 of the earth and sand transport vehicle 2 is supported by a support arm 50 provided substantially at the center of the vehicle body 51. The support arm 50 includes a lower support arm 50a and a connecting portion 50 connected to the lower support arm 50a.
The upper support arm 50b is connected to the support arm 50b via a rod or the like (not shown).
On longitudinal axis of the body 51, the arm support 52 is mounted at the shaft 52a so that it can rotate the longitudinal axis as the axis, to the arm support 52, the lower support arm 50 a
Proximal end of which is pivotally supported. A base end of a hydraulic cylinder 53 is attached to a lower frame 51a of the vehicle body 51, and a telescopic rod 53a of the hydraulic cylinder 53 is axially mounted on a lower support arm 50a via a bearing member. . The arm supporting portion 52 is supported on both sides by hydraulic cylinders 55a and 55b from the vehicle body 51.

A hydraulic cylinder 54 is provided on the upper support arm 50b.
Is rotatably attached by a holding member 56, and the distal end of an extendable rod 54 a of the hydraulic cylinder 54 is connected to the bucket 12 to support the bucket 12. With the above-described configuration, if the rod 53a of the hydraulic cylinder 53 is extended, the lower support arm 50a
In conjunction with this, the upper support arm 50b is inverted from the vehicle body 51, and the bucket 12 is raised. The inclination of the bucket 12 in the left-right direction is detected by the rotary non-contact potentiometer 31 similarly to the first embodiment, and the hydraulic cylinders 55a, 55
By the operation of b, the inclination of the bucket 12 in the left-right direction is corrected. The tilt of the bucket 12 in the front-rear direction is detected by the rotary non-contact potentiometer 32, and the tilt of the bucket 12 in the front-rear direction is corrected by the hydraulic cylinder 54. By operating the hydraulic cylinder 54, the bucket 12 can be tilted to transfer earth and sand to the loading platform of the dump truck D. In the figure, reference numeral 56 denotes a guide plate for guiding earth and sand when the earth and sand loaded on the bucket 12 is transferred to the bed of the dump truck D.
2 is stored at the bottom. At the time of earth and sand transfer, the guide plate 56 is pulled out from the lower portion of the bucket 12 manually or by the action of a hydraulic cylinder or the like so that the earth and sand loaded on the bucket 12 can be surely dropped onto the dump truck bed. It guides the earth and sand. Although the specific configuration of the present invention has been described in detail, the present invention is not limited to this, and it depends on the capacity of the bucket for loading the earth and sand, the use conditions of the construction site using the earth and sand carrier, and the like. The design can be changed as needed.

[0022]

[Effects of the Invention] The earth and sand transport vehicle of the present invention is a so-called all-wheel drive system in which a plurality of wheels supporting the vehicle body are driven to travel, so that the traveling performance on uneven terrain is extremely high.
Also, since the so-called independent suspension system in which each of the plurality of wheels independently supports the vehicle body is adopted, the suspension device can efficiently absorb unevenness of the road surface, and Vibration from the vehicle can be suppressed to a minimum. In addition, even when traveling on uneven terrain having a large number of irregularities and complicated slopes, the vehicle can travel with all the wheels securely grounded on the road surface, so that the stability during traveling can be extremely high. .

Further, the earth and sand transport vehicle of the present invention has a bucket inclination detecting means for detecting the inclination of the bucket, and a posture of the bucket for returning the bucket to a horizontal state when the inclination detecting means detects the inclination of the bucket. With the control means, the bucket can always be run while being kept horizontal, and therefore, when traveling on uneven terrain having a large number of complicated slopes, when climbing up and down slopes, or when Even when crossing the surface, the earth and sand loaded on the bucket does not spill. In addition, by keeping the bucket loaded with earth and sand always horizontal, it is possible to reduce the fluctuation of the center of gravity of the earth and sand transport vehicle when traveling on an inclined surface, prevent the earth and sand transport vehicle from tipping over, and improve work safety. It can also be done. In addition, the sediment transport vehicle of the present invention can raise and lower the bucket while maintaining the horizontal state of the bucket, incline the bucket, and drop the sediment onto the bed of a large sediment transport vehicle such as a dump truck. ,
It is possible to transfer earth and sand easily and quickly without relying on humans.

Further, if the inclination of the bucket is detected by a rotary potentiometer capable of outputting a detected value proportional to the inclination, the attitude control of the bucket can be numerically managed, and the attitude control can be performed. By arbitrarily setting and changing the program and numerical settings of the device, even if the position of the center of gravity of the load loaded on the bucket is deviated, for example, the position of the center of gravity is corrected by inclining the bucket at an appropriate angle. However, by storing this angle in the attitude control unit and controlling it, it is possible to stably convey even the above-mentioned load.

[Brief description of the drawings]

FIG. 1 is a side view of a first embodiment of a soil transport vehicle according to the present invention.

FIG. 2 shows a first embodiment of the earth and sand carrier of the present invention;
FIG.

FIG. 3 is an exploded perspective view of the traveling device of the earth and sand carrier of the present invention.

FIG. 4 is an explanatory view of a tilt angle detecting device for detecting a tilt of a bucket of the earth and sand transport vehicle of the present invention.

FIG. 5 is an explanatory view of a hydraulic drive mechanism of the earth and sand transport vehicle of the present invention.

FIG. 6 is an explanatory view of an operation when crossing an inclined surface according to the first embodiment of the earth and sand transport vehicle of the present invention.

FIG. 7 is an explanatory view of the operation of the first embodiment of the earth and sand carrier of the present invention when climbing a slope.

FIG. 8 is a view showing a state in which a bucket is inclined to transfer earth and sand to a dump truck according to the first embodiment of the earth and sand transport vehicle of the present invention.

FIG. 9 is a side view of the second embodiment of the earth and sand carrier of the present invention.

FIG. 10 is a view of the second embodiment of the earth and sand transport vehicle of the present invention, as viewed in the direction of arrow A in FIG. 9;

[Explanation of symbols]

REFERENCE SIGNS LIST 1 earth transporter (first embodiment) 2 earth transporter (second embodiment) 11 body 12 bucket 13, 13 ′ support arm 14 control box 15 wheel 16 pivot shaft 17 connecting member 18 hydraulic cylinder (for tilting bucket) 19, 19 'Hydraulic cylinder (for bucket lifting) 21 Axle 22 Hydraulic motor 23 Hydraulic damper 30 Tilt angle detecting device 31, 32 Rotary contactless potentiometer 43 Wheel drive system 44 Bucket lifting system 45 Bucket tilt system 46 Attitude control unit

Claims (2)

(57) [Scope of request for utility model registration] 1. A laden sediment like a bucket, provided at the vehicle body
A plurality of sand truck suitable for narrow office work you self drives the wheels, and suspension means for suspending from the body the plurality of wheels independently, each wheel is suspended in this suspension means A wheel driving means for distributing and applying a rotational driving force to each of the above, and raising and lowering the bucket installed on the upper part of the vehicle body
A lifting means that the inclination sensing means for detecting the inclination of the longitudinal and lateral direction of the bucket, and the attitude control means attempting to bring the bucket in a horizontal state when the tilt detection means detects the inclination of the bucket , Semasho working sand transportation vehicle, characterized in that it has a, a sediment transfer means for driving the pre-Symbol buckets for transferring the sediment or the like loaded into the bucket in the carrier of a large sand truck. 2. A pre-Symbol inclination sensing means comprises a rotary potentiometer which outputs a detection value proportional to the inclination of the bucket, the processes the output signal from the rotary potentiometer with attitude control means according to the numerical control claim 1 Semasho working sand transportation vehicle, wherein the TURMERIC line control of the posture of the bucket.