JP2604035Y2 - Control device for the raised position of the cabin of the work vehicle - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cabin work vehicle that runs on stairs or the like to enter an underground shopping mall and performs rescue work when an accident such as a fire occurs.

[0002]

2. Description of the Related Art Conventionally, there has been a technique for traveling up and down stairs and the like while keeping a driver's seat substantially horizontal with respect to a forward and backward inclination of an airframe.

[0003]

When climbing up and down stairs with the above-mentioned work vehicle, there is a risk that the cabin collides with the ceiling at the entrance of the underground mall if the cabin is controlled horizontally. Therefore, an object of the present invention is to provide a work vehicle that can travel without danger even when there are obstacles on the ceiling when climbing up and down stairs.

[0004]

SUMMARY OF THE INVENTION The present invention provides the following work vehicle to achieve the above object. That is, in a work vehicle capable of traveling while keeping the driver's seat almost horizontal by swinging the cabin back and forth with respect to the forward and backward inclination of the body in the traveling direction, an ultrasonic sensor is provided above the cabin and the ultrasonic sensor is provided below. A control device for controlling the ascending position of the cabin of a working vehicle, wherein the ascending and descending cylinder is activated by detecting an obstacle located above by an ultrasonic sensor, and the operation of the ascending and descending cylinder regulates the position of the cabin in a rising direction.

[0005]

An ultrasonic sensor is provided above the cabin so that an obstacle above the cabin can be detected. When an obstacle is detected, control is performed so that the cabin does not rise even during horizontal control of the cabin.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. First, a conventional cabin swinging work vehicle will be described. 2 to 6, reference numeral 1 denotes a work vehicle for traveling on a slope, and 2 denotes a driver's seat 3.
And a cabinet 5 in which the driving operation unit 4 and the like are provided. Reference numeral 5 denotes a machine base for supporting left and right front crawlers 6, 7 and rear crawlers 8, 9, and 10 denotes an engine room at a lower rear portion of the cabin 2. In the engine room 10, an engine 12 and a water pump for extinguishing fire are disposed. Reference numeral 17 denotes a work machine installation base that also serves as the upper cover of the engine room 10, and reference numeral 18 denotes a fire hose device that is a work machine installed on the installation base 17. The cabin 2 is mounted on the machine 5
The first cabin table 2 is supported at the front end of the machine base 5 via a front fulcrum shaft 21 so as to be swingable back and forth in the running direction of the vehicle body.
2 and a rear end of the second cabin table 24 via a rear fulcrum shaft 23 to a rear end of the first cabin table 22 so that the floor surface 25 of the cabin 2 for the driver is A first elevator cylinder 28 for tilting the cabin forward is provided between each of the machine base 5 and the first cabin base 22 at substantially the center of the inside of the first cabin base 22 via each of the support shafts 26 and 27. A second raising / lowering cylinder 31 for rearward tilting of the cabin is provided between the outer cabin of the second cabin tables 22 and 24 through the respective support shafts 29 and 30, and the respective cylinders 28 and 31 are extended and contracted to thereby make the front fulcrum. The cabin 2 is configured to tilt forward or backward about the shaft 21 or the rear fulcrum shaft 23.

In FIG. 6, reference numeral 32 denotes an inclination sensor provided at substantially the center of the machine base 5 for detecting an inclination angle in the front-rear direction. 33 is a rear stroke sensor provided on the first lifting / lowering cylinder 28 for tilting the cabin 2 forward, and 34 is a cabin 2
A front stroke sensor 35 provided on the second lifting cylinder 31 that tilts backward is a manual switch, and these are connected to a controller 36. 37 is a solenoid valve for moving the first lifting cylinder 28 up and down, and 38 is a solenoid valve for moving the second lifting cylinder 31 up and down. Now, when the engine 12 is started and the body is advanced, the ascending slope or the ascending stairs is raised, and as shown in FIG. 4, the inclination angle sensor 32 provided on the machine base 5 detects the angle. Extend to the first cabin 2
Raise 2. The stroke sensor 33 provided on the first lifting cylinder 28 detects the horizontal state of the cabin 2 and stops lifting. As shown in FIG. 5, when the vehicle descends on a downhill or down stairs from a horizontal road surface, the inclination sensor 32 detects the second cabin rearward inclination.
The elevating cylinder 31 is extended to tilt the second cabin table 24 and the cabin 2 forward. And the second lifting cylinder 3
1, the pre-stroke sensor 34 detects the horizontal state of the cabin 2 and stops descending. Reference numeral 40 in FIG. 2 denotes a fuel tank. When the stairs descend at the entrance of the underground shopping mall as shown in FIG. 5 using the work vehicle as described above, the danger of the cabin 2 colliding with the ceiling 42 as shown in FIG. There is.

The present invention is an improved version of the present invention, which allows the vehicle to travel without danger. That is, as shown in FIG. 2, the ultrasonic sensors 43 and 44 are provided on the roof surface of the cabin 2 before and after. When the ultrasonic sensor is provided above the cabin 2, an obstacle above the cabin can be detected. When an obstacle is detected, the cabin is controlled so as not to rise.

More specifically, referring to FIG.
The work vehicle starts and travels while performing horizontal control as indicated by 46 as indicated by, and obstacles are checked by the front ultrasonic sensor 43 as indicated by 47. Front ultrasonic sensor 4
If it is determined in step 3 that an obstacle is present as indicated by 48, the cabin is lowered in the manner described above. When it is determined that there is no obstacle, the vehicle descends the stairs, and the obstacle is checked by the rear ultrasonic sensor 44 as shown by 50. When it is determined that the obstacle is present as shown by 51, the cabin is determined as described above. Is lowered, and if it is determined that there are no obstacles, the vehicle continues to travel. As described above, it is possible to travel while checking the obstacle, so that it is possible to travel safely.

[0010]

According to the present invention, an obstacle above the cabin can be checked by an ultrasonic sensor provided above the cabin, and when an obstacle is detected, the cabin is horizontally controlled by an elevating cylinder provided below. Above all, there is a feature that the ascending position can be controlled so as not to ascend the cabin, the cabin can travel safely without colliding with the obstacle, and the safety is improved.

[Brief description of the drawings]

FIG. 1 is a flowchart illustrating a control method of a work vehicle according to the present invention.

FIG. 2 is a side view of the work vehicle.

FIG. 3 is a plan view of the main part.

FIG. 4 is an explanatory diagram of a rising posture of a work vehicle.

FIG. 5 is an explanatory view of a down attitude of the work vehicle.

FIG. 6 shows a flowchart of a conventional work vehicle control method.

[Explanation of symbols]

 Reference Signs List 1 work vehicle 2 cabin 6 front crawler 7 front crawler 8 rear crawler 9 rear crawler 43 front ultrasonic sensor 44 rear ultrasonic sensor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Toshiki Hirano 1-32 Chaya-cho, Kita-ku, Osaka, Osaka Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Wataru Nakagawa 1-32, Chaya-cho, Kita-ku, Osaka, Osaka No. Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hiroshi Kawabuchi 1-32 Chayacho, Kita-ku, Osaka-shi, Osaka Yanmar Agricultural Machinery Co., Ltd. (56) References JP-A-63-171572 (JP, A) Kaihei 4-125988 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B62D 55/116 A62C 27/00

Claims (1)

(57) [Scope of request for utility model registration] An ultrasonic sensor is provided above a cabin in a work vehicle capable of running while swinging a cabin back and forth with respect to a forward and backward inclination of a body in a running direction and keeping a driver's seat substantially horizontal. And operated by this ultrasonic sensor downward.
The lifting cylinder is provided that, by <br/> detecting upper disabled product ultrasonic sensor, at the operation of the lifting cylinder, cavity
Lifting the cabin of a work vehicle that regulates the position of the
Position control device.