JP2560119B2 - Vehicle fall prevention mechanism - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle fall prevention mechanism, and in particular, when the vehicle body is lifted by an outrigger, the entire vehicle body is largely moved in the left-right direction to correct the balance of the vehicle body weight. The present invention relates to a vehicle fall prevention mechanism capable of preventing a fall.

[Conventional technology]

In some types of vehicles, the position of the center of gravity becomes higher depending on the usage pattern, and there is a structure in which the vehicle easily falls.
For example, an aerial work vehicle, a crane vehicle, a ladder vehicle, a lift vehicle, etc. may be mentioned. In this aerial work vehicle, a boom is vertically swingably connected to a swing base provided on the vehicle body so as to be able to rotate in the left and right directions, a bucket is connected to the tip of the boom, and a worker is attached to the bucket. There are many configurations with a board. Then, by the operation of the worker on the bucket, the boom can be swung, swung, or expanded / contracted toward the utility pole or the wall surface to perform work in a high place where the scaffold cannot reach (so-called boom type height). Work vehicle). In such a configuration, when the boom is extended for a long time, the center of gravity moves, and when the center of gravity extends outward from the side surface of the vehicle, the vehicle falls. Therefore, an aerial work vehicle needs a fall prevention mechanism.

For this purpose, it has been customary in the past to project outriggers on both sides of the vehicle body, fix the vehicle body by the outriggers, and place the center of gravity within the vehicle body to prevent falls. . However, in the conventional fixing of the vehicle body by the outrigger system, the fall prevention range is determined by the overhanging length of the outrigger, and the safe control range of the boom swing and its extension and contraction is determined by the outrigger length. Oops. Further, on a narrow road or the like, the outrigger cannot be greatly extended, so that the range in which the center of gravity can be moved is narrowed and the safety range in which the boom can be moved is extremely narrowed.

Due to such drawbacks, the same inventor as the applicant of the present invention has proposed a fall prevention mechanism such as Japanese Patent Application No. 60305250. In this newly proposed fall prevention mechanism,
The body moves left and right on the upper surface of the outrigger that overhangs,
It was intended to correct the position of the center of gravity immediately before the fall. However, this configuration has a drawback that the distance over which the overhanging overhang can be moved is limited and the entire vehicle body cannot be moved greatly.

[Problems to be solved by the invention]

In this way, in the conventional vehicle fall prevention mechanism, the overrigger width of the outrigger is kept constant and the vehicle body is moved in response to this so that it is always positioned within the safe range even if the center of gravity moves. However, it was not possible to move the vehicle body completely to the tip of the outrigger, and it was not possible to expand the securing of a sufficient safety zone that would not cause a fall.

[Means for solving problems]

In view of the above-described drawbacks, the present invention provides a vehicle body that can be self-propelled, an internal hollow guide body that is located near the lower portion of the vehicle body and is fixed in the left-right direction of the vehicle body, The outer boom slidably inserted inside, the inner boom inserted into the inside of the outer boom from the other open end, and slidably inserted inside the outer boom, and fixed to the tip of the outer boom It is composed of an outrigger that can lift the car body and an outrigger that can be fixed to the tip of the inner boom to lift the car body, and the guide body can be moved left and right with respect to the outer boom,
(EN) A vehicle fall prevention mechanism characterized by moving a vehicle body lifted by an outer boom and an inner boom fixed to the ground in the left-right direction.

[Action]

In the present invention, the guide body having both ends opened in the left-right direction of the vehicle body is fixed, and the outer boom is movably inserted through the one end opening of the guide body. The inner boom is inserted into the outer boom through its left and right openings, and the vehicle body can freely move in the left-right direction with respect to the outer boom. Therefore, the movement range of the guide body, that is, the vehicle body can be freely set within the range of the distance overhanging to the left and right of the outrigger. Therefore, the range in which the vehicle body can move can be expanded, and the boom can be expanded or contracted.
Even if the center of gravity moves by swinging, the center of gravity can always be maintained within a safe range in which it does not fall.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing a vehicle equipped with a fall prevention mechanism according to the present invention (here, a high-place work vehicle is shown as a specific example), FIG. 2 is a side view of the same as above, and FIG. It is a figure. Further, FIG. 4 is a sectional view showing the vicinity of the outrigger,
FIG. 5 is an enlarged perspective view showing the fall prevention mechanism.

In this embodiment, a swivel base 3 is horizontally rotatably mounted on a vehicle body 2 of a vehicle 1, and a boom 4 which can be expanded and contracted in three stages is vertically swingably connected to an upper end of the swivel base 3. There is.
A bucket 5 on which an operator rides is connected to the end of the boom 4, and the boom 4 can be expanded and contracted in the length direction by an expansion and contraction cylinder (not shown). A balance cylinder (not shown) that can keep the bucket 5 always horizontal is interposed in this. A hydraulic cylinder 6 for controlling the depression angle is interposed between the boom 4 and the swivel base 3.

Between the front wheels and the rear wheels on the lower surface of the vehicle body 2, a guide body 7 having a rectangular cross-section opening in the left-right direction.
Is fixed, and a guide body 8 having a quadrangular cross section is fixed to the rear wheel of the vehicle body 2 in the left-right direction. Outer booms 9 and 10 are slidably inserted in the lengthwise direction from one end openings (left side in FIG. 4) of the respective guide bodies 7 and 8, and the other end openings (first The inner booms 12 and 14 are respectively inserted from the right side in FIG. 4) so as to be movable in the length direction. This guide body 7, 8, the outer boom 9, 10,
The inner booms 12 and 14 form three types of boom-shaped telescopic bodies having different outer shapes. Outriggers 15, 16, 17, and 18 are fixed to the respective tips of the outer booms 9 and 10 and the inner booms 12 and 14. A hydraulic motor 19 as a drive mechanism is fixed to the upper surface of the vehicle body 2 in the center thereof, and a hydraulic motor 20 as a drive mechanism is fixed to the rear portion of the upper surface of the vehicle body 2.

Further, the boom 4 is provided with a length measuring sensor 21 for measuring the length of expansion and contraction and strengthening it as an electric signal.
This length measuring sensor 21 is a tape measure type, and its main body 22
The measuring belt 23 that is fixed to the boom 4 and appears and disappears in the main body 22.
One end of is fixed to a fixing piece 24 provided on the boom at the tip of the boom 4. When the length measuring strip 23 is pulled out from the main body 22, the length of movement is converted into an electric signal and output. The swivel base 3 is provided with an angle sensor 25 capable of measuring the elevation angle of the boom 4 and outputting it as an electric signal. Further, although not shown, the front or rear outriggers 15, 16, 17, 18 are also provided with length measuring sensors for measuring the expansion and contraction lengths of these and how far they are from the center of the vehicle body 2. .

Next, referring to FIG. 4, the structure around the outriggers 15 to 18 for holding the vehicle body 2 will be described.

Since the outrigger mechanisms provided at the front and rear of the vehicle body 2 have the same configuration, only the front outrigger mechanism will be described and the outrigger mechanisms provided at the rear part will not be described.

A pulley 27 is fixed to the output shaft of the hydraulic motor 19, and pulleys 28 and 29 are axially supported near the left and right openings of the guide body 7, respectively. A fixing piece 30 is fixed to the upper surface of the outer boom 9, and one end of a wire 31 is connected to the fixing piece 30. The wire 31 is a pulley.
The wire is turned upside down by 28 and wound around the pulley 27 once, then turned toward the pulley 29 and turned upside down by the pulley 29. The other end of the wire 31 is connected to the fixed piece 30. With this configuration, when the hydraulic motor 19 is operated, the pulley 27 winds the wire 31 and moves the fixed piece 30, that is, the outer boom 9 with respect to the guide body 7.

Next, one end of a chain 33 is connected to the open end of the outer boom 9 located inside the guide body 7.
Is a sprout wheel 35 pivotally supported on the upper end of the inner boom 12.
It is turned over by the inside boom 12, is drawn into the inside of the inner boom 12, is turned over by the pulley 37 pivotally supported by the inside end of the inside boom 12, and is then connected to the end of the outside boom 9. Of the chain 33, rollers 39 as a gap interposing mechanism are attached to the portion of the upper surface of the inner boom 12 at equal intervals, and by the movement of the chain 33, these rollers 39 are attached to the inner boom 12. It will be pulled out from the inside and positioned on the upper surface of the inner boom 12.

FIG. 5 shows the structure of the outer boom 9 and the inner boom 12.

A window hole 40 for communicating the inner and outer walls of the inner boom 12 is formed at a position close to the outrigger 16, and a sprocket wheel 34 is pivotally supported in the window hole 40. The roller 39 is pulled out from the inside of the inner boom 12 by 40.

Next, FIG. 6 is a wiring diagram showing a hydraulic control system in the present embodiment.

The hydraulic control device 45 takes in signals for operation commands from the operation panel 46 and also takes in signals from the length measuring sensor 21, the angle sensor 25, the outrigger length measuring sensors 47 (right side) and 48 (left side), and the operation panel 46 A hydraulic cylinder and a hydraulic motor can be controlled by controlling pressure oil from a hydraulic pump 50 driven by an engine 49 based on a command from the sensor or a signal from each sensor.

As hydraulic followers controlled by the hydraulic control device 45, the hydraulic cylinders for lifting the outriggers 15, 16, 17, 18 respectively, the hydraulic cylinder 51 for expanding and contracting the boom 4, and the bucket 5 are horizontally corrected. A hydraulic cylinder 52 for controlling the boom 4, a hydraulic cylinder 6 for suppressing the boom 4, and hydraulic cylinders 53, 54 for pushing the inner booms 12, 14 from the outer booms 9, 10 are connected.
The hydraulic control device 45 includes the hydraulic motors 19 and 20,
A hydraulic motor 55 for rotating the swivel 3 with respect to the vehicle body 1 is connected.

The hydraulic control device 45 stores a safety area (area indicated by lanes X, Y, Z) as shown in FIG.
6 is stored, the calculation result is referred to in the ROM 56 based on the signals from the sensors 21 and 25, and when it is determined that the safety region (X, Y, Z) is exceeded, the hydraulic motor 1
By driving 9 and 20, respectively, the center of gravity of the vehicle body 1 can be moved in the direction opposite to the safety area.

Next, FIG. 8 shows a specific circuit of the fall prevention mechanism in the hydraulic control system.

The hydraulic control device 45 includes a hydraulic circuit 60 and a control device 61 that controls the hydraulic circuit 60.

The control unit 61 includes a processing unit (CPU) 62 that executes various calculations and processes, and a read-only memory (RO) that stores a program that causes the CPU 62 to execute processes by a predetermined means.
M) 63 and memory (RAM) 64 for storing various data
And a digital input / output circuit (DI) that receives various commands from the operation panel 46 and gives necessary display signals to the operation panel 46.
O) 65, an input circuit (I) 66 that takes in detection signals from various sensors 21, 25, 47, 48, a digital output circuit (DO) 67 that outputs a signal for controlling the hydraulic circuit 60, and It is composed of a bus 68 to be connected. ROM56
Is connected to bus 68.

The hydraulic circuit 60 is connected to a pipe 75 so that the pressure oil pressurized by the hydraulic pump 50 can be supplied to the electromagnetic switching valves 71, 72, 73, 74, and from the electromagnetic switching valves 71, 72, 73, 74. A pipe 77 is provided to guide the oil to the oil tank 76, the output side of the switching valve 71 and the expansion / contraction cylinder 51 are connected by pipes 78 and 79, and the output side of the electromagnetic switching valve 72 and the hydraulic cylinder 6 are connected. Are connected with pipes 80 and 81, and the output side of the electromagnetic switching valve 73 is connected with the hydraulic motor 19 with pipes 82 and 83.
The hydraulic motor 20 is connected to the pipes 84 and 85. These electromagnetic switching valves 72 to 74 are configured to be switched by a switching command from the CPU 62 output via the DO 67 of the control device 60, and the hydraulic oil according to the command is switched to each electromagnetic switching valve 72. It can output to the output side of ~ 74.

 Next, the operation of this embodiment will be described.

First, the outriggers 15 to 18 are extended to a predetermined length to fix the vehicle body 2. This operates the operation panel 46 to issue an operation command (step S100), and this command is fetched by supplying hydraulic oil to the outrigger cylinders 53, 54 by the hydraulic control device 45 to extend each outrigger 15-18 and at the same time. The hydraulic motors 19 and 20 are also operated to extend the outer booms 9 and 10 and the inner booms 12 and 14 left and right with the same movement amount (step S10
1) When the hydraulic control device 45 detects that the outriggers 15 to 18 are extended to a predetermined length by the detection signals from the length measuring sensors 47 and 48 (step S102), the supply of the hydraulic oil is stopped. This is realized by (step S103).

Next, hydraulic pressure is supplied to the outriggers 15 to 18 to float the vehicle body 2 above the ground. This is realized by operating the operation panel 46 to issue an operation command (step S104), and by supplying a predetermined amount of hydraulic oil to the outriggers 15 to 18 by the hydraulic control device 45 incorporating the command (step S105).

By operating the outrigger cylinders 53 and 54 in this manner, the inner booms 12 and 14 are respectively projected from the outer booms 9 and 10 to the left and right, and the outriggers 15 to 18 are largely projected toward the left and right sides of the vehicle body 2. Become. 3 shows a state where the vehicle body 2 is lifted by supplying hydraulic pressure to the outriggers 15 to 18 and extending the vertical heights of the outriggers 15 to 18, respectively. When this preparation is completed, it is possible to control the rotation of the swivel base 3, the expansion and contraction of the boom 4, and the depression of the boom 4.

Next, in step S107, an expansion / contraction command for the boom 4, an instruction for controlling the depression of the boom 4 is issued in step S108, and a command for controlling the rotation of the swivel base 3 is individually issued in step S109.

When the boom 4 expansion / contraction command is issued in step S107,
It is taken into CPU62 via DIO65, the command is judged, and DO67
The electromagnetic switching valve 71 is controlled via the control valve to supply hydraulic oil to the telescopic cylinder 51 to make the boom 4 expand or contract or contract (step S110). Next, the detection signal (L) from the length measuring sensor 21 and the detection signal (Θ) from the angle sensor 25 are temporarily stored in the reading RAM 64 via the input circuit 66 (step S111). Next, using the data L and Θ stored in the RAM 64, the CPU 62 uses the following equations (1) and (2).
The formula is calculated (step S112).

H = Lsin Θ (1) V = Lcos Θ (2) where H is the horizontal length of the boom 4, V is the horizontal length of the boom 4, L is the length of the boom 4, and Θ is the boom 4. Angle with Horizontal Plane Further, in step S113, the above calculation results are associated with the safety areas X, Y and Z of FIG. 7 stored in the ROM 56, and the CPU 62 determines whether or not it is the safety area (step S114). If it is determined in step S114 that it is in the safe area, step S1
In step 19, the F-register is checked, and it is determined whether or not it was the abnormality processing loop last time. If it is not abnormal here, the processing proceeds to step S115.

In step S115, it is determined whether the length control or the angle control of the boom 4 is performed. If the length control of the boom 4 is performed, the step is determined.
The process proceeds to S116, and it is determined whether or not the desired length is reached. When it is determined in step S116 that the length has reached the desired length, the operation panel 46 is operated in step S117 to give a boom length control stop command. Then, the CPU 62, which obtains this via the DIO 65, stops the electromagnetic switching valve 71 via the DO 67 at the stop position (step S118). If the length is not the desired length in step S116, the process returns to step S107.

When the angle control command for the boom 4 is issued in step S108, this is taken into the CPU 62 via the DIO 65, the command is determined, and the electromagnetic switching valve 72 is drive-controlled via the DO 67, and hydraulic oil is applied to the depression cylinder 6. To raise the boom 4 (step S120). Next, after passing through steps S111 to S114, the F-register is checked in step S119 when it is the safe area (X, Y, Z) of FIG. On that condition, the process proceeds to step S115. Since the angle control is determined in step S115, it is determined in step S121 whether or not the desired angle is achieved. When it is determined in step S121 that the desired angle is reached, the operation panel 46 is operated in step S122 to make the angle control of the boom 4 a stop command. Then this is DIO 6
The CPU 62 obtained via step 5 sets the electromagnetic switching valve 72 to the stop position via the DO 67 to stop the angle control of the boom 4 (step
S123). When the angle is not the desired angle in step S121, the process returns to step S108.

On the other hand, if it is determined in step S114 that the safe area (X, Y, Z) has been exceeded, the process proceeds to step S124, it is determined whether the colon left, the colon right, or the colon is set in the F register, and the flag is set. If not, the process proceeds to step S125, and the CPU 62 controls the electromagnetic switching valves 71 and 72 to the stop position via the DO 67 in order to stop the movement of the boom 4. Next, in step S126, the CPU 62 causes the boom 4 stored in the RAM 64 to
The data relating to the direction is determined, and if the colon is right or the colon, the process proceeds to step S127. If the colon is the left or the colon, the process proceeds to step S128. In step S127, the CPU 62 drives and controls the electromagnetic switching valves 73 and 74 so that the hydraulic motors 19 and 20 are normally rotated. Further, in step S128, the CPU 62 controls the hydraulic motors 19 and 20 to rotate in the reverse direction, and the electromagnetic switching valve 73,
Drive and control 74. When steps S127 and S128 are completed,
In step S129, it is determined whether or not the guide bodies 7, 8 have moved by a predetermined length with respect to the outer booms 9, 10. If the guide bodies 7, 8 have not moved a predetermined amount, the process returns to step S126, and if they have moved, step S130. Move on to. For example, after completing steps S126, 128, and 129, the vehicle body 2,
That is, if attention is paid only to the relationship between the guide bodies 7 and 8 and the outer booms 9 and 10, the state moves from FIG. 10 to FIG.

In step S130, the movement of the boom 4 stopped in step S125 is permitted, and then in step S137, it is set in the F register whether the boom 4 is moved rightward or leftward. Then, the detection signals L and Θ from the sensors 21 and 25 are stored in the RAM 64 via the input circuit 66 (step S131), and then the above (1) is based on the data (L, Θ) from the RAM 64.
Equation (2) is calculated (step S132).

Further, as shown in FIG. 7, the ROM 56 stores a safety area (X, Y, Z) from the elevation angle of the boom 4 and the amount of expansion and contraction, and the above calculation result is associated with this safety area (step S133), it is judged in step S134 whether it is perfect, and if it is safe, the process proceeds to step S115. Stop the operation (step S13
6). That is, the CPU 62 gives an alarm by giving it to the operation panel 46 via the DIO 65, and controls the electromagnetic switching valves 71, 72 to the stop position via the DO 67. Further, if it is determined in step S119 that the "rightward movement" is made, the guide body 7,
8 is returned to its original position, the F register is reset, and if it is determined in step S119 that the movement is left, the guide bodies 7 and 8 are returned to their original positions (FIG. 10) in step S139 and the F register is reset. Then, the process proceeds to each step S115.

When the operation panel 46 is operated in step S109 to give a rotation command for the swivel base 3, the hydraulic control device 45 takes the command and immediately drives the hydraulic motor 55 to rotate (step S109).
S140). In step S141, it is determined whether or not each desired rotation has been achieved. If not desired, the process returns to step S109, and if desired, the process proceeds to step S142 to stop and control the operation panel 46. As a result, the hydraulic control device 45 stops the hydraulic motor 55 of the swivel base 3 (step S143), and stores the rotation angle direction in a predetermined storage means (RAM64) (step S144). This rotation direction is designed so that communication can be performed each time it is moved, and when the boom 4 returns to the basic position.
RAM64 is designed to be reset.

Now, an example of the operation will be described using the above flow chart.

Assuming that the extension and depression of the boom 4 are simultaneously controlled in steps S107 and 108, steps S110 → 120 → 110 → 116 → 1.
The boom 4 is extended from the state shown in FIG.
The state shown in FIGS. Then, when the boom 4 is extended to a desired state, steps S117 to 118 and 121 to 121
Move to 123 and stop. Then, the process proceeds to step S109, steps S140 to 141 are processed, and the swivel base 3 is rotated.
If the processes of steps S142 to S144 are performed when the swivel base 3 comes to the desired rotation position, the state shown in FIG. 10 is obtained. Further, in step S108, the operation panel 46 is operated to issue a command to reduce the depression angle of the boom 4, and steps S120 to 111 to 11 are executed.
The processing of 5, 119 and 121 is repeated. In this loop, when it is determined to be dangerous in step S114, the processes of step S124 and thereafter are performed (steps S124 to S134). As a result, as shown in FIG. 10, the vehicle body 2 moves in the direction opposite to the falling direction and becomes safe, so that the depression angle of the boom 4 can be controlled so that it is further reduced. The boom 4 can be in a horizontal position as shown in FIG.

Further, when the vehicle moves away from the dangerous angle, the process always moves to step S119 in step S114, so that the guide bodies 7 and 8 (that is, the vehicle body 2) are set to their original positions (FIG. 3). As described above, since the present embodiment operates, the vehicle body 2 can be automatically moved in the opposite direction to the falling direction in the dangerous area (outside the shaded areas X, Y, Z in FIG. 7). Since the center of gravity can be balanced, falls can be prevented.
When leaving the danger angle, the vehicle body 2 is returned to its original position (see FIG. 3, FIG.
(Fig. 10)

Next, an operation of expanding and contracting the outriggers 15 to 18 and an operation of moving the guide bodies 7 and 8 with respect to the outer booms 9 and 10 will be described.

When the vehicle body 2 travels or moves on the road, the outer booms 9 and 10 and the inner booms 12 and 14 are housed inside the guide bodies 7 and 8, respectively.
Each of the 18 is held so as to approach and closely contact the side surface of the vehicle body 2.

First, the outer booms 9 and 10 are opened through the openings of both ends of the guide bodies 7 and 8.
When the inner booms 12 and 14 are extended in the left-right direction of the vehicle body 2 and extended, hydraulic pressure is supplied to the hydraulic cylinders 53 and 54 to extend the hydraulic cylinders 53 and 54, and at the same time, the hydraulic motors 19 and 20 are turned on. To operate. Then, the inner boom 12, 14
Are pushed out from one opening of the outer booms 9 and 10, respectively, and pushed outward from the side surface of the vehicle body 2 (rightward in FIGS. 3 and 4). This is the hydraulic cylinder
Only the inner booms 12, 14 are pushed out of the vehicle body 2 by 53, 54. However, since the hydraulic motors 19, 20 operating at the same time wind up the wire 31 by the pulley 27, the outer booms 9, 10 simultaneously reach the inner boom. It is moved in the direction opposite to the moving direction of 12 and 14 (left direction in FIGS. 3 and 4). If the movement amounts by the hydraulic cylinders 53, 54 and the movement amounts by the hydraulic motors 19, 20 are controlled to be equal, the movement amounts by which the outer booms 9, 10 are pulled out from the open ends of the guide bodies 7, 8 and the guides. The amount of movement of the inner booms 12 and 14 pulled out from the open ends of the bodies 7 and 8 becomes equal, and the outriggers 15 to 18 project from the vehicle body 2 with the same length. For this reason, the vehicle body 2 is positioned at the center of the outriggers 15 to 18 that project to the left and right. Third
FIG. 4 and FIG. 4 show a state in which the outer booms 9 and 10 and the inner booms 12 and 14 are pushed laterally from the vehicle body 2.

When the inner booms 12 and 14 are moved with respect to the outer booms 9 and 10, the chain 33 has a constant length, and therefore the sprocket wheel 35 rolls on the upper surfaces of the inner booms 12 and 14 sequentially. Will be withdrawn. Since the rollers 39 are connected to the chain 33 at equal intervals, the rollers 39 are sequentially exposed on the upper surfaces of the inner booms 12, 14. Therefore, when the rollers 39 are exposed on the upper surfaces of the inner booms 12 and 14 as shown in FIG. 4, the rollers 39 are arranged at equal intervals on the surfaces of the inner booms 12 and 14, respectively.
The planes of the upper surfaces of the outer booms 9 and 10 and the tops of the rollers 39 are located on the same plane. Therefore, the guide bodies 7 and 8 normally move while contacting the surfaces of the outer booms 9 and 10, but the inner booms 12 and 14 are pulled out from the outer booms 9 and 10 to form inner walls of the guide bodies 7 and 8. When a gap is created between the upper surfaces of the inner booms 12 and 14, the roller 39 is inserted into this gap and rolls. In this way, the guide body 7,
The step between 8 and the inner booms 12, 14 is eliminated.

Then, when the hydraulic motors 19 and 20 are driven, the wires
Since 31 is wound around the pulley 27,
The wire 27 winds the wire 31, and the direction in which the wire 31 is wound can be changed by the normal rotation or reverse rotation thereof. Therefore, when the pulley 27 rotates and the wire 31 is wound up, the guide bodies 7 and 8 are driven to the right or left with respect to the outer booms 9 and 10, and are fixed to the guide bodies 7 and 8. The existing vehicle body 2 is moved relative to the outer booms 9 and 10. For this reason, when the outriggers 15 to 18 are operated and the vehicle body 2 is in a state of being lifted from the ground (state of FIG. 3), the hydraulic motors 19 and 20 are driven to wind the wire 31 to guide the guide member 7. , 8
And the vehicle body 2 moves in the left-right direction of the vehicle body. At the time of this movement, the lower surfaces of the guide bodies 7 and 8 are initially in contact with the upper surfaces of the outer booms 9 and 10, but when they are moved to the ends of the outer booms 9 and 10 (the right end in FIG. 4), The inner walls of the rollers 8 and 8 come into contact with the upper ends of the rollers 39 and are guided by the rollers 39 to move in the directions of the outriggers 16 and 18. At this time, since the guide bodies 7 and 8 are held by the rollers 39, the guide bodies 7 and 8 can be moved to a position just near the outriggers 16 and 18, and the vehicle body 2 can be largely moved in the left-right direction.

In addition, the hydraulic cylinders 53 and 54 are reduced so that the inner boom 1
When pushing 2 and 14 into the outer booms 9 and 10, the chain is controlled in the reverse order of the above, and the chain is stretched in a slightly S shape.
32 moves to the inside of the inner booms 12 and 14 while being guided by the sprocket wheel 34, and accordingly, the rollers 39 connected to the chain 32 also move to the inside of the inner booms 12 and 14, respectively. At the same time, the hydraulic motors 19 and 20 are operated in synchronization, and the outer booms 9 and 10 are drawn into the guide bodies 7 and 8. When the inner booms 12 and 14 are housed in the outer booms 9 and 10, and at the same time the outer booms 9 and 10 are housed in the guide bodies 7 and 8, the rollers 39 are also inside the inner booms 12 and 14, respectively. It will be completely stored and will not be exposed to the outside.

〔The invention's effect〕

Since the present invention is configured as described above, the vehicle body lifted by the outrigger can be largely moved in the left-right direction, and the steps formed by the plurality of booms can be eliminated by the rollers, so that the vehicle body can be made large in the left-right direction. It can be moved in the direction in which the outriggers are extended, and can maintain a large fall angle when the boom is extended.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment according to the present invention, FIG. 2 is a side view of the same as above, FIG. 3 is a rear view, FIG. 4 is a sectional view showing the vicinity of an outrigger, and FIG. FIG. 6 is an enlarged perspective view showing FIG. 6, FIG. 6 is a system diagram showing a hydraulic control circuit, FIG. 7 is an explanatory diagram showing a safety region, FIG. 8 is a system diagram showing a fall prevention mechanism, and FIG. 9 is an operation of this embodiment. 10 is an explanatory view showing a state in which the boom is lifted, and FIG. 11 is an explanatory view showing a state in which the boom is lowered for explaining the operation of the present embodiment. 1 ... Vehicle, 2 ... Body, 3 ... Revolving base, 4 ... Boom, 5 ... Bucket, 7 ... Guide body, 9, 10 ... Outer boom, 12, 14 ... Inner boom, 15, 16, 17, 18 …… Outrigger, 39 …… Coro.

Claims (5)

(57) [Claims] 1. A self-propelled vehicle body, an internal hollow guide body located near the lower portion of the vehicle body, fixed in the left-right direction of the vehicle body, and slid into the inside from one open end of the guide body. The outer boom movably inserted, the inner boom inserted into the inside of the guide body from the other open end, and slidably inserted inside the outer boom, and the body fixed to the tip of the outer boom. It consists of an outrigger that can lift the vehicle and an outrigger that is fixed to the tip of the inner boom and can lift the vehicle body.The guide body can be moved left and right with respect to the outer boom, and the outer fixed to the ground. A vehicle fall prevention mechanism that moves the vehicle body lifted by the boom and inner boom in the left-right direction. 2. A self-propelled vehicle body, an internally hollow guide body located near the lower portion of the vehicle body, fixed in the left-right direction of the vehicle body, and slid into the inside from one open end of the guide body. The outer boom movably inserted, the inner boom inserted into the inside of the guide body from the other open end, and slidably inserted inside the outer boom, and the body fixed to the tip of the outer boom. And an outrigger that can be lifted, and an outrigger that can be fixed to the tip of the inner boom to lift the vehicle body, insert one end into one opening of the guide body, insert the other end into the other end of the guide body, It is composed of a wire that winds around the inner and outer circumferences of the guide body by connecting both ends to an outer boom, and a drive mechanism that is provided on the vehicle body and that can wind this wire. Move the ear to the right, move the right and left guide member relative to the outer boom by a wire,
A vehicle fall prevention mechanism characterized in that the vehicle body lifted by an outer boom and an inner boom fixed to the ground is moved in the left-right direction. 3. A self-propelled vehicle body, an internally hollow guide body located near the lower portion of the vehicle body, fixed in the left-right direction of the vehicle body, and slid into the inside from one open end of the guide body. The outer boom movably inserted, the inner boom inserted into the inside of the guide body from the other open end, and slidably inserted inside the outer boom, and the body fixed to the tip of the outer boom. Can be lifted, the outrigger that can be fixed to the tip of the inner boom to lift the car body, and the rear end of the outer boom that is connected to the outer boom and moves with the outer boom. It is composed of a gap interposition mechanism composed of multiple rollers with a diameter almost the same as the spacing, and the guide body can be moved left and right with respect to the outer boom, and the outer boom fixed to the ground and the inner boom can be moved. What body can be moved in the lateral direction lifted, the end of the outer boom guide body vehicle toppling prevention mechanism, characterized in that rolls the upper surface of the inner boom through the rollers. 4. A self-propelled vehicle body, an internal hollow guide body located near the lower portion of the vehicle body, fixed in the left-right direction of the vehicle body, and slid into the inside from one open end of the guide body. The outer boom movably inserted, the inner boom inserted into the inside of the guide body from the other open end, and slidably inserted inside the outer boom, and the body fixed to the tip of the outer boom. The outrigger that can lift the vehicle, the outrigger that is fixed to the tip of the inner boom and can lift the vehicle body, and the tip of the outer boom are connected to the rear end of the outer boom. , A wire whose end is connected to the rear end of the outer boom and a part of this wire that is located above the inner boom, with multiple rollers whose diameter is the distance between the inside of the guide body and the outside of the inner boom. , One end of which is inserted into one opening of the guide body, the other end of which is inserted into the other end of the guide body, and both ends of which are connected to the outer boom so that the wire wound around the inner and outer circumferences of the guide body and provided on the vehicle body It is composed of a drive mechanism that can wind this wire, and the wire is moved left and right by operating the drive mechanism, and the guide body is moved left and right with respect to the outer boom by the wire,
The car body lifted by the outer and inner booms fixed to the ground can be moved in the left-right direction, and when the guide body moves with respect to the outer boom, it will roll in the gap between the inner side of the guide body and the outer side of the inner boom. A vehicle fall prevention mechanism characterized by being inserted by rolling. 5. A self-propelled vehicle body, an internal hollow guide body located near the lower portion of the vehicle body, fixed in the left-right direction of the vehicle body, and slid into the inside from one open end of the guide body. The outer boom movably inserted, the inner boom inserted into the inside of the guide body from the other open end, and slidably inserted inside the outer boom, and the body fixed to the tip of the outer boom. And an outrigger that can be lifted, and an outrigger that can be fixed to the tip of the inner boom to lift the vehicle body, insert one end into one opening of the guide body, insert the other end into the other end of the guide body, A wire wound around the inner and outer circumferences of the guide body by connecting both ends to an outer boom, a drive mechanism provided on the vehicle body and capable of winding the wire, and a wire provided on the vehicle body, the length of which can be expanded and contracted. A boom that can swing up and down together, a length measurement sensor that can detect the length of this boom, an angle sensor that can detect the elevation angle of this boom, and a length measurement sensor and an angle sensor It consists of a control device that inputs a signal to operate the drive mechanism.The control device determines the safe area where the boom does not fall due to the boom length and angle, and the control device operates the drive mechanism before the boom protrudes from the safety area. And the wire is moved by the drive mechanism, the guide body is moved left and right with respect to the outer boom by the wire, and the vehicle body is moved in the direction opposite to the direction in which there is a risk of falling. mechanism.