JP3032685B2 - Equipment for horizontal installation of work vehicles with outriggers - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle horizontal installation device having an outrigger.

[0002]

2. Description of the Related Art Conventionally, in a work vehicle having an outrigger for stabilizing a vehicle body during work, such as a crane vehicle,
It is necessary to hold the vehicle horizontally even on a slope. For this reason, Japanese Patent Publication No. 2-30906 proposes a device for automatically setting a vehicle body horizontally even on a slope.

[0003]

However, in the above-mentioned conventional vehicle body horizontal installation apparatus, when the vehicle body is installed horizontally, each lifting jack is first set to the maximum extension state, and then the vehicle body is installed on the basis of a signal from the inclination detecting means. The body is installed horizontally by reducing the lifting jack so that the body becomes horizontal, and it takes time from the start of operation until the body is installed horizontally, resulting in poor work efficiency.

In addition, since the horizontal installation control is started from a state in which the jack is at the maximum stroke and the vehicle body is lifted to the maximum, the control is usually completed in a state where the vehicle body is lifted to the maximum. As a result, there were also problems such as an increase in the position of the center of gravity and a lack of stability during work.

[0005] The present invention has been made in order to improve such a problem, and an object of the present invention is to provide a work vehicle body horizontal installation apparatus that enables a vehicle body to be installed horizontally at a low center of gravity.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to a work vehicle provided with outriggers for stabilizing a vehicle body during work before and after a self-propelled lower traveling body. A two-axis tilt detector for detecting front-rear and left-right tilt and a hydraulic pressure detector for each jack cylinder, and a controller for controlling the amount of expansion and contraction of the jack cylinder according to the tilt of the vehicle body detected by the two-axis tilt detector An overhang length detector that controls the outrigger individual valve provided for each jack cylinder so that the hydraulic pressure of each jack cylinder becomes the calculated value, and detects the overhang length of the telescopic outrigger arm. The operation time of the outrigger individual valve is corrected in accordance with the overhang length detected by these overhang length detectors.

With the above structure, the required pressure oil is supplied from the control valve to the jack cylinder of the outrigger and the vehicle body is installed horizontally by simply operating the automatic level setting switch. Can be fixed. As a result, the work can be started promptly, so that the work efficiency can be improved, and the conventional control valve can be used as it is, so that it can be carried out without significant modification and is economical.

Further, since the vehicle body is installed horizontally at a position as low as possible, the position of the center of gravity is lowered to improve the stability at the time of work, and the pressure oil necessary for maintaining the vehicle body horizontally is surely transferred to the jack cylinder. Pressure oil is supplied to the jack cylinder so that it is supplied or the required axial force is generated in the jack cylinder, so after horizontal installation of the vehicle body, the stability of the vehicle body is impaired due to insufficient hydraulic pressure or insufficient axial force, or the vehicle body falls over There is no danger.

Further, since the operation time of the outrigger individual valve for controlling the jack cylinder is corrected by detecting the extension length of the outrigger arm, even if the extension length of the outrigger arm varies depending on the location, it is always short. The vehicle body can be installed horizontally.

[0010]

An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a work vehicle having an outrigger.
An upper revolving unit 2 is rotatably provided on a self-propelled lower traveling unit 1, and a crane boom 3 and a cab 4 are installed on the upper revolving unit. Outriggers 5 for stabilizing the vehicle body 1a of the lower traveling body 1 during work are provided before and after the lower traveling body 1.

The outrigger 5 is, as shown in FIG.
Outrigger arms 6 extend and contract to the side of the vehicle body 1a, and jack cylinders 7 are vertically fixed to tips of the outrigger arms 6, respectively. Piston rods projecting downward from the jack cylinders 7 are provided. 7
A float 8 is swingably attached to the tip of a.

The outrigger 5 is of a type generally referred to as an H-shaped outrigger, but the present invention can be similarly applied to an X-shaped outrigger in which the outrigger arms 6 are combined in an X-shape.

FIG. 3 shows a hydraulic circuit of the outrigger 5, in which a hydraulic pump 9 driven by an engine 8 is provided.
The pressure oil discharged from the arm slide cylinder is branched into two directions by an outrigger selector valve 10 composed of an electromagnetic valve, and one of the arm oils is provided through an outrigger individual valve 11 composed of an electromagnetic valve provided for each jack cylinder 7. 1
2 is supplied to the head side of each jack cylinder 7 via the double check valve 13, and the other is supplied to the head side of each arm slide cylinder 12.

As shown in FIG. 1, the vehicle body 1a includes a front-rear direction detector 15a for detecting the front-rear inclination of the vehicle body 1a, and a left-right direction detector 15b for detecting the left-right inclination. As shown in FIG. 2, the outrigger 5 is provided with an outrigger extension length detector 16 for detecting expansion and contraction of the outrigger arm 6 via a wire 16a, and each of the jack cylinders 7 is provided with an axial inclination detector 15. Is provided with a hydraulic pressure detector 17 for detecting the hydraulic pressure on the bottom side of the jack cylinder 7, and signals detected by these detectors 15, 16, 17 are sent to the control system controller 20 shown in FIGS. Based on these signals, the valves 10 and 11 are controlled as follows.

4 to 6, reference numeral 21 denotes an automatic level setting switch, reference numeral 22 denotes alarm means for issuing an alarm in response to a command from the controller, and reference numeral 23 denotes a display device which indicates an operation state of the outrigger 5.

Next, the operation at the time of horizontal installation using the control system shown in FIG. 4 will be described with reference to the flowchart shown in FIG. When the work vehicle is stopped on a slope or the like and work is performed by the crane boom 3, first, the outrigger arm 6 is extended as long as possible in order to stabilize the vehicle body. Next, when the automatic horizontal setting switch 21 is turned ON in this state, the process proceeds to step 101 of the flow shown in FIG. 7, and the controller 20 checks whether there is any abnormality in the sensor or the like.
If there is an abnormality, an alarm is issued, and if there is no abnormality, the process proceeds to step 102, where both the horizontal flag and the pressure flag are OK.
Is checked.

If one or both of the horizontal flag and the pressure flag are not OK, the routine proceeds to step 103,
The pressure flag is checked, and if the pressure flag is not OK, the process further proceeds to step 104 to execute the pressure control routine shown in FIG. 8, and then proceeds to step 105 to execute the horizontal control routine shown in FIG.

If the pressure flag is OK in step 103, the routine proceeds to step 106, where the horizontal control routine is executed. Thereafter, the routine proceeds to step 107, where the pressure control routine is executed. It is checked whether both the flags are OK. If OK, the work vehicle determines that the horizontal installation of the vehicle body has been completed, outputs a control end display to the display device 22, and ends the operation.

Next, the pressure control routine shown in FIGS. 8 and 9 will be described. First, in step 201, the hydraulic pressures of the four jack cylinders 7 have reached a set value for floating the tires (in the case of FIG. 8), and whether the sum thereof is within the hydraulic pressure range corresponding to the gross vehicle weight (FIG. 9). If not, the process proceeds to step 202, in which the outrigger individual valve 11 and the outrigger selector valve 10 of the outrigger jack 7 in the insufficient location are operated for ti seconds to supply insufficient hydraulic pressure. Then step 20
Return to 1 and check. If OK, turn on the pressure flag and proceed to the next step. In step 203,
It is checked whether the hydraulic pressure of the jack cylinder 7 has reached the relief set pressure, and if the relief pressure has been reached, it is determined that the jack cylinder 7 has reached the stroke end, and the process proceeds to step 204 and step 205, and an alarm is output. Control ends.

Next, a horizontal control routine will be described with reference to FIG. When the inclination of the vehicle body 1a stopped on the slope is, for example, the front-rear inclination angle α is α> 0, and the left-right inclination angle β is β> 0.
Is going to the left. First, in step 301, it is checked whether both the absolute values of α and β are equal to or less than the set value a °,
Otherwise, go to step 302. Step 30
2, when the front-rear and left-right inclinations are α> 0 and β> 0, for example, it is determined that the vehicle body 1a is ascending forward and the rear right outrigger individual valve 11 is moved for tj seconds in accordance with the magnitudes of α and β. Activate. Then, in step 301, both α and β are a
If it is less than or equal to °, the horizontal flag is turned on and the process proceeds to the next step.

On the other hand, in the above-mentioned automatic horizontal control operation, when the outrigger arm 6 is protruding long and short, the jack cylinder 7 is operated for the same time. The change amount of the inclination angle of the vehicle body 1a is smaller than that in the case where the vehicle body 1a is installed, and a longer time is required for accurate horizontal installation.

Therefore, in the control system shown in FIGS. 5 and 6,
Detector 1 for detecting overhang length of outrigger arm 6
6 is provided to correct the operation time tj of the outrigger individual valve 11 according to the value detected by the overhang length detector 16. As a result, highly accurate horizontal installation control can be performed in a short time irrespective of the overhang length of the outrigger arm 6.

Further, by detecting the hydraulic pressure of the jack cylinder 7 from the bottom side and the head side of the jack cylinder 7, it is possible to calculate the axial force of the jack cylinder 7 based on the difference in area and the pressure. Detection can be more accurate, which can reduce the time to complete the pressure control routine. In the above embodiment, the hydraulic pressure of the jack cylinder was used to detect the ground reaction force applied to the jack cylinder.
It can be easily implemented by a method using a strain gauge or the like.

[Brief description of the drawings]

FIG. 1 is a side view of a working vehicle equipped with a vehicle body horizontal installation device according to an embodiment of the present invention.

FIG. 2 is a front view of a working vehicle equipped with a vehicle body horizontal installation device according to an embodiment of the present invention.

FIG. 3 is a circuit diagram showing an outrigger hydraulic circuit of a work vehicle equipped with the vehicle body horizontal installation device according to one embodiment of the present invention.

FIG. 4 is a block diagram showing a control system of the vehicle body horizontal installation device according to one embodiment of the present invention.

FIG. 5 is a block diagram showing a control system of a vehicle body horizontal installation device according to another embodiment of the present invention.

FIG. 6 is a block diagram showing a control system of a vehicle body horizontal grounding device according to still another embodiment of the present invention.

FIG. 7 is a flowchart showing the operation of the vehicle body horizontal installation device according to one embodiment of the present invention.

FIG. 8 is a flowchart illustrating a pressure control routine of the horizontal installation device for a vehicle body according to one embodiment of the present invention.

FIG. 9 is a flowchart illustrating a pressure control routine of the vehicle body horizontal grounding device according to another embodiment of the present invention.

FIG. 10 is a flowchart illustrating a horizontal control routine of the vehicle body horizontal installation device according to one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Undercarriage 1a Body 5 Outrigger 6 Outrigger arm 7 Jack cylinder 11 Outrigger individual valve 15 2-axis inclination detector 16 Overhang length detector 17 Oil pressure detector 20 Controller 21 Automatic horizontal setting switch

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B60S 9/12

Claims (2)

(57) [Claims] 1. A work vehicle provided with outriggers (5) for stabilizing a vehicle body (1a) during work before and after a self-propelled lower traveling body (1) , wherein the vehicle body (1a) has a front-rear and left-right inclination. A two-axis tilt detector (15) and a hydraulic pressure detector (17) provided in each jack cylinder (7) , according to the tilt of the vehicle body (1a) detected by the two-axis tilt detector (15). Jack cylinder above
(7) the amount of expansion or contraction calculated by the controller (20) of, and outrigger individual valve (1 hydraulic pressure provided for each jack cylinder so that the calculated value (7) of each jack cylinder (7)
Controls the 1), retractable outrigger arms (6)
An overhang length detector (16) that detects the overhang length of
The overhang detected by these overhang length detectors (16)
The operating time of the outrigger individual valve (11) according to the
A vehicle body horizontal installation device having a corrected outrigger. (2 ) A work is provided before and after a self-propelled undercarriage (1).
Work with outriggers (5) to stabilize the vehicle body (1a) during work
Detects front, back, left and right inclination of the vehicle body (1a) in a car
Two-axis tilt detector (15) and each jack cylinder (7)
A hydraulic pressure detector (17) is provided and the two-axis tilt detector (15)
The jack cylinder described above according to the inclination of the car body (1a)
Calculate the expansion and contraction amount of (7) with the controller (20), and
Each ground reaction force of the stick cylinder (7) is equal to or more than a certain value and
First, make sure that the sum of the contact pressures is close to the total weight of the vehicle.
Outrigger individual bar provided for each jack cylinder (7)
With outriggers characterized by controlling the lube (11)
Horizontal grounding device for work vehicles .