JP5085907B2 - Jack control device for work vehicle - Google Patents

Description

  The present invention relates to a jack operation control device for a work vehicle having an automatic horizontal control means for controlling the operation of a jack to automatically lift and support a vehicle body horizontally.

  As a work vehicle having a jack, an aerial work vehicle, a crane vehicle, and the like are known. A boom for raising and lowering the work table is attached to the vehicle body of the work vehicle at a high place, and an operator who has boarded the work table can move to any height by operating the boom. At this time, by extending the jack in advance and supporting the vehicle body in a horizontal manner, the vehicle body can be stably operated at a high place safely when the boom is operated.

  When working with the work vehicle stopped on an inclined ground, the amount of extension required to support the vehicle body horizontally differs between the jacks, making it difficult to manually operate the jack. There were variations in operation time and horizontal accuracy depending on the level of proficiency. For this reason, the operation of the jack is permitted when the road surface inclination angle is within the allowable inclination range defined by the predetermined allowable inclination angle, and when this permission is granted, the jack is automatically operated to make the vehicle body substantially horizontal. There has been proposed a work vehicle configured to perform control for lifting and supporting within a predetermined target range (hereinafter also referred to as “automatic horizontal control”), thereby improving work efficiency. (For example, see Patent Documents 1 and 2).

  In the conventional configuration, the allowable inclination angles of the front and rear and the left and right are set to take a constant value, and the detected road inclination angle is compared with the allowable inclination angle that takes this constant value, and the road inclination angle is the allowable inclination. The automatic horizontal control is performed when it is determined that the angle is within the allowable inclination range without exceeding the corner. When supporting the vehicle body horizontally, when the road surface is tilted both forward and backward and left and right, two jacks that are diagonally positioned (for example, the front left and right jacks when tilting forward and left) The difference in the extension amount between the rear right jack) becomes large. Therefore, the allowable inclination angle is set so that automatic horizontal control can be performed after absorbing the difference in extension even when the road surface is inclined at the same angle in the front-rear direction and the left-right direction.

Japanese Patent No. 3784402 Japanese Patent No. 3638485

  In general, when a work vehicle is used, the work is performed by stopping on the road shoulder so as not to disturb traffic, but the road shoulder is often inclined to the left and right in consideration of drainage of rainwater and the like. For this reason, according to the conventional form, even when the vehicle is stopped on a level road surface in the front-rear direction, if the vehicle body falls to the left due to the inclination of the road shoulder and exceeds the allowable inclination angle, the left jack and the right Despite being able to absorb the difference in the amount of extension with the jack and support the vehicle body horizontally, it was not possible to perform automatic horizontal control. Thus, even if it has a configuration for performing automatic horizontal control, there are many opportunities to manually operate the jack, and there is a possibility that functions for improving work efficiency may not be fully exhibited. It was. Such a situation may also occur when the front and rear road surface inclination angles exceed the allowable inclination angle when the vehicle stops on a horizontal road surface.

  This invention is made | formed in view of such a subject, and it aims at providing the jack operation control apparatus of the working vehicle which can improve working efficiency.

In order to achieve the above object, a work vehicle jack operation control apparatus according to the present invention includes a jack that is vertically extendable in the front-rear and left-right directions of the vehicle body and supports the vehicle body so as to lift and support the vehicle body. Road surface inclination detection means (for example, the vehicle body inclination detector 53 in the embodiment) for detecting the inclination state of the road surface relative to the horizontal surface of the mounted road surface, and operation means (for example, automatic operation in the embodiment) for operating the jack A switch 26 and a manual operation lever 28), and based on the road surface inclination detected by the road surface inclination detecting means, the front-rear road surface inclination angle with respect to the horizontal plane in the vehicle longitudinal direction and the horizontal plane in the vehicle lateral direction. and the inclination angle calculation unit for calculating a lateral road surface inclination angle, our determination of whether the front and rear road surface inclination angle is greater than the longitudinal allowable tilt angle And whether the left and right road surface inclination angle exceeds the left and right allowable inclination angle, and the front and rear road surface inclination angle does not exceed the allowable front and rear inclination angle and the left and right road surface inclination angle does not exceed the right and left allowable inclination angle. Then, it has the permission determination part which permits the action | operation of a jack . And the allowable longitudinal angle is set according to the left and right road surface inclination angle, and the allowable left and right inclination angle is set according to the front and rear road surface inclination angle. In addition, when the operating means is operated, it has automatic horizontal control means for controlling the operation of the jack to automatically lift and support the vehicle body horizontally, and the automatic horizontal control means is controlled by the permission determining unit. When the operation is permitted, the automatic operation control unit may be configured to control the jack so that the jack is lifted and supported so that the tilt state of the vehicle body falls within the target value range.

  At this time, the left and right allowable inclination angles are set to decrease as the left and right road surface inclination angles are increased with respect to the horizontal, and the left and right allowable inclination angles are increased as the front and rear road surface inclination angles are increased with respect to the horizontal. Is preferably set so as to be reduced.

  According to the jack operation control device for a work vehicle according to the present invention configured as described above, an allowable inclination angle before and after being compared with the front and rear road surface inclination angles by the permission determination unit is set according to the left and right road surface inclination angles. In addition, the left and right allowable inclination angles compared with the left and right road surface inclination angles are set according to the front and rear road surface inclination angles. That is, the permission determination unit determines whether or not the road slope is within an allowable slope range corresponding to the road slope. For this reason, compared with the conventional form in which the allowable inclination angle is set to take a constant value regardless of the road surface inclination state, the control for determining whether or not to allow the operation of the jack is finely performed according to the road surface inclination state. be able to. In addition, in a mode having an automatic operation control unit that performs control to lift and support the vehicle body by controlling the operation of the jack when the operation of the jack is permitted by the permission determination unit, determination control whether to perform automatic horizontal control or not Can be performed finely according to the slope state of the road surface. At this time, the left and right allowable inclination angles are set to decrease as the left and right road surface inclination angles increase with respect to the horizontal, and the left and right allowable inclination angles decrease as the front and rear road surface inclination angles increase with respect to the horizontal. By setting so that the allowable inclination angle is set, the allowable inclination range can be expanded as compared to the case where the allowable inclination angle is set to take a constant value.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an aerial work vehicle 1 as an example of a work vehicle provided with a jack operation control device for a work vehicle according to the present invention. The aerial work vehicle 1 is based on a truck vehicle, and includes a work device 5 provided on a vehicle body 2 having a driving cabin 3a and wheels 3f and 3r.

  The work device 5 is configured such that a boom 7 is attached to a swivel base 6 provided on the vehicle body 2 and a work base 9 for boarding an operator is provided on the boom 7, and a heavy object is suspended from the work base 9. A winch 8c for performing work is attached and configured. The swivel base 6 is provided at the rear part of the vehicle body 2 so as to be able to turn freely, and is turned by a turning motor 71 built in the vehicle body 2. The boom 7 includes a proximal boom 7a, an intermediate boom 7b, and a distal boom 7c combined in a telescopic manner. The proximal boom 7a is pivotally connected to the swivel base 6 and straddles the swivel base 6. It is raised and lowered by the raised and lowered cylinder 72, and is expanded and contracted by the built-in expansion and contraction cylinder 73. A vertical post 8a is attached to the tip of the boom 7 so as to be swingable within the undulating surface of the boom 7, and the vertical post 8a swings so as to be always held in a vertical posture by a leveling device (not shown). Be controlled. A base end portion of an arm 8b is attached to the vertical post 8a so as to be swingable in a horizontal plane, and a work table 9 is attached to a distal end portion of the arm 8b. In this way, the work table 9 is attached to the tip of the boom 7 via the vertical post 8a and the arm 8b, and is swung in a horizontal plane by a swing motor (not shown) built in the vertical post 8a or the arm 8b. The The work table 9 is provided with an upper operation device 20 for operating the work device 5.

  Further, a jack 10 for lifting and supporting the vehicle body 2 from the ground via an outrigger 15 is provided on the front, rear, left and right of the vehicle body 2, and the operation of the jack 10 and the outrigger 15 is performed at the rear of the vehicle body 2. A lower operating device 25 for performing is provided.

  The outrigger 15 has a rectangular box-shaped outer beam 16 mounted on the vehicle body 2 with its longitudinal direction turned to the left and right, and two inner parts that are fitted in the hollow space of the outer beam 16 and are slidable to the left and right. The two outriggers 15, 15 configured as described above are arranged separately in the front part and the rear part of the vehicle body 2. In addition, an outrigger cylinder (not shown) is built in both beams 16 and 17, and the inner beam 17 is slid left and right in accordance with the operation of the outrigger cylinder. The jack 10 is attached to the tip of each inner beam 17 and is extended and stored in the left and right directions according to the operation of the outrigger 15 (inner beam 17).

  The jack 10 includes a vertically long box-like outer post 11 attached to the inner beam 17, an inner post 12 fitted into the outer post 11 from the lower end opening and slidable up and down, and a lower end portion of the inner post 12. It has a grounding plate 13 attached and a jack cylinder 14 built in and straddled between both posts 11 and 12, and the inner post 12 is vertically expanded and retracted in accordance with the operation of the jack cylinder 14. Is done.

  When the aerial work vehicle 1 is used to start the aerial work, the lower operation device 25 is used to operate the outriggers 15 and 15 so that the jacks 10 are extended to the left and right outer sides of the vehicle body 2. 14 is extended and each jack 10 (inner post 12) is extended downward. As a result, the ground plate 13 contacts the ground, the wheels 3f and 3r are grounded, and the vehicle body 2 is lifted from the ground and supported by the jack 10. Then, an operator who has boarded the work table 9 can move the work table 9 to a desired work position by operating the work device 5 using the upper operation device 20. When the work table 9 is moved to the work position by operating the boom 5 or the heavy work is lifted by using the winch 8c at the work position, the moment to fall the vehicle with the boom 7 as an arm. Works. In order to stabilize the vehicle body 2 against this moment, the jack 10 is operated so that the vehicle body 2 is substantially horizontal when starting a work at a high place.

  Next, the operation control device of the jack 10 will be described with reference to FIG. This operation control device performs operation control of the lower operation device 25, the jack cylinder 14 constituted by a hydraulic cylinder, the hydraulic device 30 for supplying hydraulic oil to the jack cylinder 14, and the hydraulic device 30. Through this, it has a controller 40 for controlling the expansion and contraction operation of the jack 10.

  The lower operation device 25 includes an automatic operation switch 26 for performing an operation for automatically operating the jack 10 and a manual operation lever 28 for performing an operation for manually operating the jack 10. The manual operation lever 28 is provided corresponding to each jack 10 and can be tilted back and forth from the neutral position of the vertical posture. For example, the corresponding jack 10 is contracted by operating the front tilt from the neutral position. The corresponding jack 10 can be extended by tilting backward from the neutral position. At the base of each manual operation lever 28, a manual operation detector 51 is provided, which includes a switch or the like and detects the tilting direction of the lever. Detection signals output from the automatic operation switch 26 and the manual operation detector 51 are input to the controller 40.

  The hydraulic device 30 is driven by an engine or the like, and discharges hydraulic fluid stored in a tank 31. The hydraulic fluid is discharged by the hydraulic pump 32 by operating a spool in response to a command signal from the controller 40. And a control valve 33 for controlling the flow. The control valve 33 is an electromagnetic proportional direction switching valve provided individually corresponding to each jack cylinder 14, and the moving direction and moving amount of the spool of each control valve 33 are controlled by a command signal from the controller 40. Thus, the flow of hydraulic oil to each jack cylinder 14 is controlled. Thereby, the expansion / contraction direction and operating speed of each jack cylinder 14 can be controlled independently of each other.

  The controller 40 includes a detection signal from the ground detector 52 that detects whether or not the ground plate 13 of each jack 10 is grounded, and a vehicle body inclination detector 53 that detects the inclination angle of the vehicle body 2 with respect to the horizontal plane. The detection signal is input. The ground detector 52 is individually provided corresponding to each jack 10, and a detection signal indicating whether or not the jack 10 is grounded is input to the controller 40 from each ground detector 52. The vehicle body inclination detector 53 is attached to the center of the vehicle body 2 and detects the inclination state in all directions of the vehicle body 2 with respect to the horizontal plane.

  The controller 40 is configured to control the expansion / contraction operation of the jack 10 based on input signals from the automatic operation switch 26, the manual operation detector 51, the grounding detector 52 and the vehicle body inclination detector 53. A mode setting unit 41 for setting a mode for automatically operating 10 (hereinafter also referred to as “automatic mode”) and a mode for manually operating the jack 10 (hereinafter also referred to as “manual mode”); , An operation control unit 42 for outputting a command signal to the control valve 33, and an inclination angle calculation for obtaining an inclination angle in the front-rear direction and an inclination angle in the left-right direction of the vehicle body 2 with respect to the horizontal plane based on an input signal from the vehicle body inclination detector 53 The vehicle body 2 can be lifted and supported horizontally by the jack 10 with the portion 43 and the road surface being inclined. If it is determined whether or not it is possible to support, the permission determination unit 44 that permits the operation of the jack 10, the road surface inclination angle storage unit 45 that stores the road surface inclination state, and the road surface A predetermined allowable inclination range set in accordance with the inclination state is stored in advance and an allowable inclination range storage unit 46 is stored.

  Detection signals from the automatic operation switch 26 and the manual operation detector 51 are input to the mode setting unit 41. The mode setting unit 41 is configured to set the manual mode in the initial state where the hydraulic pump 32 is started. When the manual mode is set, a detection signal from the manual operation detector 51 is input to the operation control unit 42 via the mode setting unit 41. When the operation of the jack 10 is permitted by the permission determination unit 44, the operation control unit 42 outputs a command signal to the corresponding control valve 33 based on the detection signal from the mode setting unit 41, so that the jack cylinder 14 Perform operation control. Through this operation control, the expansion / contraction operation of the jack 10 according to the operation of the manual operation lever 28 is performed.

  For example, when the hydraulic pump 32 is started, the tilt angle calculation unit 43 is based on an input signal from the vehicle body tilt detector 53, and the tilt angle in the front-rear direction and the tilt angle in the left-right direction of the vehicle body 2 with respect to the horizontal plane. And the calculated front and rear and left and right vehicle body inclination angles are stored in the road surface inclination angle storage unit 45. The starting operation of the hydraulic pump 32 is set to a state in which, for example, the power take-off mechanism is engaged with the power transmission path from the engine to the wheels 3f and 3r, and the driving force transmitted to the hydraulic pump 32 is extracted from the power transmission path. For example, by operating a PTO switch. Here, when the start operation of the hydraulic pump 32 is performed, a detection signal indicating that all the jacks 10 are not grounded is input from the ground detector 52 to the controller 40, and the wheels 3f and 3r are grounded to the road surface. At this time, the vehicle body 2 and the road surface are substantially parallel. For this reason, the inclination angle of the vehicle body 2 stored in the road surface inclination angle storage unit 45 can be treated as the inclination angle of the road surface with respect to the horizontal plane. Note that the timing at which the inclination angle of the vehicle body 2 is stored in the road surface inclination angle storage unit 45 is not limited to the start operation of the hydraulic pump 32 and can be appropriately changed as long as all the jacks 10 are not in contact with the ground. Hereinafter, the inclination angle of the vehicle body 2 stored in the road surface inclination angle storage unit 45 will be referred to as “road surface inclination angle”.

  When a detection signal from the automatic operation switch 26 is input to the mode setting unit 41 while the manual mode is set, the mode set by the mode setting unit 41 is switched to the automatic mode. At this time, a signal indicating that the mode has been switched by the automatic operation switch 26 is output from the mode setting unit 41 to the permission determination unit 44. In addition, when the manual mode is set by the mode setting unit 41 and the detection signal from the manual operation detector 51 is input to the mode setting unit 41, the jack from the mode setting unit 41 by the manual operation lever 51 is also used. A signal indicating that the manual operation is performed is output to the permission determination unit 44. When any of these signals is input, the permission determination unit 44 reads and reads the front and rear and left and right road surface inclination angles (that is, the road surface inclination state) stored in the road surface inclination angle storage unit 45. It is determined whether the front and rear and left and right road surface inclination angles are within the allowable inclination range stored in the allowable inclination range storage unit 46.

  FIG. 3 illustrates the allowable inclination range A stored in the allowable inclination range storage unit 46. The graph of FIG. 3 is created with the horizontal axis x taking the front and rear inclination angles (the forward downward inclination is positive) and the vertical axis y taking the left and right inclination angles (the left downward inclination is positive). The allowable inclination range A is defined by the allowable inclination angle, and is represented as a region surrounded by straight lines L1 to L8 indicating the allowable inclination angle in FIG.

  In the first quadrant, an allowable inclination range A with respect to a state in which the road surface is inclined forward and left is represented, and by the two straight lines L1 and L2 in which the allowable inclination angle defining the allowable inclination range A is continuous. It is shown. The slopes of both straight lines L1 and L2 are descending to the right, and the allowable inclination angle with respect to the left is decreased as the road surface inclination angle in front increases with respect to the horizontal. The allowable inclination angle with respect to the front is set to decrease as the road surface inclination angle increases with respect to the horizontal. Therefore, when the road surface is horizontal to the left and right, the forward allowable inclination angle takes a maximum value (for example, 5 degrees) (see point P2), and when the road surface is horizontal to the front and rear, the left allowable inclination angle is maximum. A value (for example, 5 degrees) is taken (see point P1). In other words, the left and right allowable inclination angles when the front road inclination angle is the maximum value of the front allowable inclination angle are set to zero (see point P2), and the left road inclination angle is leftward. The allowable tilt angle before and after the maximum allowable tilt angle is set to zero (see point P1).

  The straight lines L1 and L2 are continuous at a point P3 on the dotted line L10 indicating a state where the forward inclination angle and the left inclination angle are equal. When the road surface is inclined forward and left by the same angle as indicated by the dotted line L10, the difference in the amount of extension required to horizontally support the front left jack and the rear right jack increases. . Even when the vehicle is inclined forward and left by the same angle as described above, the allowable inclination angle (( For example, 3 degrees) is set. As described above, in the conventional embodiment, the allowable inclination angle obtained in this manner is set as a constant value. In this configuration example, the maximum value of the front allowable inclination angle is set to a value larger than the allowable inclination angle indicated as the point P3, but when the front road inclination angle is this value. If the left allowable inclination angle is set to zero and the road surface is horizontal to the left and right, the vehicle body 2 can be supported horizontally by the jack 10 in the same manner. Similarly, the maximum allowable inclination angle on the left side is set to a value larger than the allowable inclination angle indicated by the point P3, but when the road inclination angle on the left side is this value, If the allowable inclination angle is set to zero and the road surface is horizontal in the front-rear direction, the vehicle body 2 can be supported horizontally by the jack 10 in the same manner. The maximum allowable inclination angle set in this way and the allowable inclination angle shown as the point P3 can be obtained in advance according to the vehicle model, the arrangement interval between the jacks 10, and the like.

  The allowable inclination range A of this configuration example is represented in a line-symmetric shape with respect to the horizontal axis x and the vertical axis y in FIG. 3, and the second to fourth quadrants are set similarly to the first quadrant. Yes. As a result, in the present configuration example, as the front and rear road surface inclination angles increase with respect to the horizontal, the left and right allowable inclination angles are set to decrease, and conversely, the left and right road surface inclination angles increase with respect to the horizontal. Accordingly, the allowable tilt angle in the front-rear direction is set to decrease.

  In the permission determination unit 44, it is determined whether or not the road inclination state is within the allowable inclination range A defined by the allowable inclination angles L1 to L8 set in this way. It is. In this configuration example, it is first determined whether the front and rear road surface inclination angles exceed the maximum value of the front and rear allowable inclination angles, and when it is determined that the front and rear road surface inclination angles do not exceed this maximum value, Based on the front and rear road surface inclination angles, the left and right allowable inclination angles are read, and a method of determining whether the left and right road surface inclination angles exceed the left and right allowable inclination angles thus read is used. In this determination method, if the front and rear road surface inclination angles do not exceed the maximum allowable front and rear inclination angle and the left and right road surface inclination angles do not exceed the left and right allowable inclination angles, the road surface inclination state is the allowable inclination range. If it can be determined that it is within A, and the front and rear road surface inclination angles exceed the maximum allowable front and rear inclination angles, or the left and right road surface inclination angles exceed the read right and left allowable inclination angles, It can be determined that the tilt state exceeds the allowable tilt range A.

  For example, when the automatic horizontal switch 26 is operated when the road surface is in the state indicated by a point P11 in FIG. 3, the permission determination unit 44 determines that the front and rear road surface inclination angle x11 is the maximum allowable front and rear inclination angle. It is determined whether the value is exceeded. If it is determined that the maximum value is not exceeded, the left and right allowable inclination angles Y11 and Y11 'are obtained based on the front and rear road surface inclination angles x11. Next, it is determined whether the left and right road surface inclination angle y11 exceeds the left and right allowable inclination angles Y11 and Y11 ′. If it is determined that the left and right road surface inclination angle y11 does not exceed the left and right allowable inclination angles Y11 and Y11 ', it is determined that the road surface inclination state is within the allowable inclination range A and automatic horizontal control is permitted from the permission determination unit 44. A permission signal indicating that the operation is to be performed is output to the operation control unit 42. When the permission signal is output, the operation control unit 42 outputs a command signal to each control valve 33 while referring to the detection signal detected from the vehicle body inclination detector 53 to control the expansion / contraction operation of each jack 10. Then, the vehicle body 2 is lifted and supported so that the inclined state of the vehicle body 2 is within a predetermined target range. For example, the target range is set to about ± 1 degree in the front, rear, left, and right directions with respect to the horizontal plane, and the vehicle body 2 is supported substantially horizontally by being within the target range. While the automatic mode is set in the mode switching unit 41 and the jack 10 is automatically operated, the manual operation lever 28 is operated and a detection signal is input from the manual operation detector 51 to the mode setting unit 41. In addition, the output of the detection signal is restricted from the mode setting part 41 to the operation control part 42, and the manual operation of the jack 10 is restricted.

  On the other hand, when the automatic horizontal switch 26 is operated when the road surface is in the state indicated by a point P12 in FIG. 3, the front and rear road surface inclination angle x12 is the maximum allowable front and rear inclination angle. It is determined whether or not. If it is determined that the maximum value is not exceeded, the left and right allowable inclination angles Y12, Y12 'are obtained based on the front and rear road surface inclination angles x12, and the left and right road surface inclination angles y12 are determined as the left and right allowable inclination angles Y12, Y12. It is determined whether or not 'is exceeded. If it is determined that the left and right road surface inclination angle y12 exceeds the left and right allowable inclination angles Y12 and Y12 ', it is determined that the road surface inclination state exceeds the allowable inclination range A and the permission determination unit 44 to the mode setting unit 41. A signal for instructing mode switching to the manual mode is output to prevent automatic horizontal control from being executed. At the same time, an operation command signal is output from the controller 40 to the alarm device 60, and the alarm device 60 operates as an alarm. The alarm device 60 is configured such that a buzzer, a lamp, a liquid crystal panel, and the like are provided adjacent to the lower operation device 25, so that an operator using the lower operation device 25 can easily recognize the alarm operation. Yes.

  According to this configuration example, the permission determination unit 44 determines whether or not the road slope is within the allowable inclination range A. The allowable inclination angles before and after defining the allowable inclination range A are the left and right road surfaces. The left and right allowable inclination angles are set according to the front and rear road surface inclination angles. Therefore, compared with the conventional form in which the allowable inclination angle is set to be constant, it is possible to finely determine whether to permit the operation of the jack and whether to perform the automatic horizontal control according to the inclination state of the road surface. it can.

  In particular, according to the present configuration example, the allowable inclination angle before and after the left and right road surface inclination angles increases with respect to the horizontal is set to decrease, and the front and rear road surface inclination angles increase with respect to the horizontal. The left and right allowable inclination angles are set to decrease. Therefore, when the front and rear road surface inclination angles are smaller than the front and rear permissible inclination angles of the conventional form, the left and right permissible inclination angles are set to be larger than the left and right permissible inclination angles of the conventional form, and the permissible inclination range A is greater than the conventional one. Can be enlarged. The expansion of the allowable inclination range A is performed by decreasing the allowable inclination angle in the direction orthogonal to the front and rear or left and right road surface inclination angles as the horizontal inclination increases with respect to the horizontal. The allowable inclination range A is appropriately set so that the vehicle body 2 can be lifted horizontally and supported after being absorbed. For this reason, for example, even when the vehicle stops on the shoulder of a horizontal road surface in the front-rear direction, the operation of the jack is permitted, and the opportunity to perform automatic horizontal control increases, thereby improving work efficiency.

  Although the embodiment of the jack operation control device for a work vehicle according to the present invention has been described so far, the scope of the present invention is not limited to the above configuration. For example, the method of determining whether or not the road surface inclination state is within the allowable inclination range A is not limited to the above example, and whether or not the left and right road surface inclination angles exceed the maximum value of the left and right allowable inclination angles. When it is determined that the left and right road surface inclination angles do not exceed this maximum value, the front and rear allowable inclination angles are read based on the left and right road surface inclination angles, and the front and rear road surface inclination angles are read in this way. It may be a method of determining whether or not the allowable tilt angle before and after being issued is exceeded. Also in this determination method, if the front and rear road surface inclination angles do not exceed the front and rear allowable inclination angles, it can be determined that the road inclination state is within the allowable inclination range A, and the left and right road surface inclination angles are the left and right allowable inclination angles. It can be determined that the slope state of the road surface exceeds the allowable slope range A if the road surface slope angle exceeds the front and rear allowable slope angles.

  The front and rear and left and right permissible inclination angles are not limited to the setting example shown in FIG. 3, and the front and rear permissible inclination angles are set according to the left and right road surface inclination angles, and the left and right allowable inclination angles are the front and rear road surface inclinations. It is set according to the angle, and can be appropriately changed as long as an allowable inclination range according to the inclination state of the road surface is set.

  In the above configuration example, the case where the operation of automatically operating the jack 10 when the operation of the jack 10 is permitted is described. However, when the operation of the jack 10 is permitted, the manual operation lever is used thereafter. The same applies to the case where the jack is manually operated. At this time, since the operation of the jack 10 is not performed when it cannot be supported in a horizontal state in advance before the manual operation is started and the operation of the jack 10 is performed, the work efficiency is improved. In addition, although the aerial work vehicle 1 was illustrated as a work vehicle comprised by having the jack 10 in the vehicle body 2, it is applicable similarly to other work vehicles, such as a crane vehicle.

It is a perspective view of an aerial work vehicle shown as an example of a work vehicle provided with a jack operation control device for a work vehicle according to the present invention. It is a block diagram which shows the structure of the jack operation control apparatus provided in the said aerial work vehicle. It is explanatory drawing which shows the allowable inclination angle memorize | stored in the allowable inclination range memory | storage part of a controller.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Aerial work vehicle 2 Car body 10 Jack 14 Jack cylinder 25 Lower operation device 26 Automatic operation switch 28 Manual operation lever 30 Hydraulic device 33 Control valve 40 Controller 42 Operation control part 43 Inclination angle calculation part 44 Permit determination part 45 Road surface inclination angle memory | storage Unit 46 allowable tilt range storage unit 51 manual operation detector 53 vehicle body tilt detector

Claims (3)

A jack that is vertically extendable to the front, rear, left, and right of the vehicle body and supports the vehicle body;
Road surface inclination detecting means for detecting an inclination state of the road surface on which the vehicle body is placed with respect to a horizontal surface from an inclination state of the vehicle body with respect to a horizontal surface;
An operation means for operating the jack; and a jack operation control device for a work vehicle configured to include:
Based on the road surface inclination detected by the road surface inclination detection means, an inclination angle calculation unit for obtaining a front and rear road surface inclination angle with respect to a horizontal plane in the vehicle front-rear direction and a right and left road surface inclination angle with respect to a horizontal plane in the vehicle left-right direction;
It is determined whether or not the front and rear road surface inclination angle exceeds a front and rear allowable inclination angle, and whether or not the left and right road surface inclination angle exceeds a left and right allowable inclination angle, and the front and rear road surface inclination angle satisfies the front and rear allowable inclination angle. A permission determination unit that permits the operation of the jack when it is determined that the left and right road surface inclination angle does not exceed the left and right allowable inclination angle without exceeding,
The jack operation control apparatus for a work vehicle, wherein the front-rear allowable inclination angle is set according to the left-right road surface inclination angle, and the left-right allowable inclination angle is set according to the front-rear road surface inclination angle. When the operation means is operated, it is configured to have automatic horizontal control means for controlling the operation of the jack to automatically lift and support the vehicle body horizontally,
The automatic horizontal control means comprises:
When the operation means is operated and the operation of the jack is permitted by the permission determination unit, the operation of the jack is controlled to lift and support the vehicle body so that the tilt state is within a predetermined target range. 2. The work vehicle jack operation control device according to claim 1, further comprising an automatic operation control unit that performs control.   The front-rear allowable inclination angle is set to decrease as the left-right road surface inclination angle increases with respect to the horizontal, and the left-right allowable inclination angle decreases as the front-rear road surface inclination angle increases with respect to the horizontal. The jack operation control device for a work vehicle according to claim 1, wherein the operation control device is set so as to do so.

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