JP5374037B2 - Total gravity center display device for work vehicles - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem wherein the presence or absence of stability at the time is difficult to be intuitively or instantaneously recognized in a conventional overturning prevention device or display device. <P>SOLUTION: This display device is provided with jack reaction force detection means 25 for detecting jack reaction force of an outrigger 3, an outrigger extension width detection means 20 for detecting an extension width of the outrigger 3, an integrated center of gravity position arithmetic means 41 for calculating an integrated center of gravity position 56 in plane view of a working vehicle from a jack reaction force signal and an outrigger extension width signal, an image data arithmetic means 45 for calculating image data of the integrated center of gravity position 56 in relation to a jack position from the outrigger extension width detection means 20 and the integrated center of gravity position arithmetic means 41, and an image display device 46 for displaying the image of the integrated center of gravity position 56 in relation to the jack position on a screen by a signal from the image data arithmetic means 45. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

The present invention relates to a display device that can visually recognize a stable state of a work vehicle using a detected reaction force value of an outrigger.

There has been proposed a fall prevention device for a mobile crane that detects the reaction force of an outrigger of a mobile crane and prevents the fall based on the detected value (see, for example, Patent Document 1). This detects the ground reaction force of each outrigger and determines the ratio of the minimum of the sum of the ground reaction forces of the two outriggers adjacent to the front, rear, left and right and the sum of the ground reaction forces of all the outriggers. The predetermined fall prevention means is executed by comparing with the safety reference value.

There is also known a work vehicle that detects a reaction force of an outrigger and displays a numerical value of the detected value on a driver's seat display device.
Japanese Patent Laid-Open No. 10-72187 (page 2-3, FIG. 3)

Although the fall prevention device described in Patent Document 1 can prevent the fall of the mobile crane, the operator of the mobile crane needs to know how much the crane working condition at that time has with respect to the stability limit. I could not.

On the other hand, if the detected outrigger reaction force value is numerically displayed on the driver's seat display device, the margin for the stability limit can be known, but the head must be compared with the value of the stability limit. Therefore, it was difficult to grasp the presence or absence of stability at that time intuitively or instantaneously.
Therefore, the present invention calculates the total barycentric position from the detected outrigger reaction force, and displays the total barycentric position with respect to the jack of the outrigger on the display screen of the driver's seat image display device. It is an object of the present invention to provide a work vehicle total center-of-gravity position display device that can immediately grasp the stable state of a work vehicle.

The invention according to claim 1, and pivotally mounted swivel base to the vehicle body with the A Utoriga with jack, comprehensive center of gravity position display of the work vehicle which is pivoted freely undulating telescopic telescopic boom to the swivel slide A boom posture detecting means for detecting the boom length, boom undulation angle and boom turning angle of the telescopic boom, an outrigger extension width detecting means, a rated stable performance storage means, a weight centroid position data storage means, In a plan view of the work vehicle, a rated center-of-gravity position range calculating unit that calculates a rated center-of-gravity position range based on a signal from the boom posture detection unit, the outrigger extension width detection unit, a jack reaction force signal, and an outrigger extension width signal. Based on the signals from the total center of gravity position calculating means for calculating the total center of gravity position and the rated center of gravity position range calculating means, the jack position and the rated center of gravity position range are determined. Image data calculating means for calculating image data of the total center of gravity position, and an image display device for displaying an image of the total center of gravity position with respect to the jack position and the rated center of gravity position range on the screen by a signal from the image data calculating means. An overall gravity center position display device for a work vehicle.

The invention according to claim 2, wherein the image data calculating means, calculating the image data of the rotated jack positioned to always show the jacking position telescopic boom direction working as just above the display screen of the image Display device The overall center-of-gravity position display device for a work vehicle according to claim 1, wherein:

According to the first aspect of the present invention, since the image of the total center of gravity position with respect to the rated center of gravity position range is displayed on the screen of the image display means, the distance between the rated center of gravity position range and the total center of gravity position can be determined intuitively or instantaneously. Can grasp. Therefore, it is possible to easily know how much margin the work vehicle has for the rated stable performance at that time.

According to the invention described in claim 2, it is rotated jacking position to display the jacking position always as just above the telescopic boom direction are working in the display screen of the image Display device in addition to the effects of claim 1 Since it is displayed, it is possible to know the position of the jack with reference to the telescopic boom in front of the driver's cab mounted on the swivel. Therefore, the position of the jack can be grasped intuitively and accurately.

FIG. 1 shows a side view of a rough terrain crane 1 as an example of a work vehicle that is optimal for mounting the overall center-of-gravity position display device according to the embodiment of the present invention.
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Shows a plan view thereof. The rough terrain crane 1 includes outriggers 3 and 3 at front and rear ends of a traveling vehicle body 2. As shown in FIG. 2, the outrigger 3 includes slides 4 and 4 that can be extended and stored in the left and right directions, and a jack 5 that can be vertically expanded and contracted at the tip of the slide 4. The rough terrain crane 1 shown in FIGS. 1 and 2 is in an outrigger installation state in which the slide 4 of the outrigger 3 is extended and the jack 5 is extended.

Reference numeral 6 denotes a swivel mounted on the traveling vehicle body 2 so as to be able to turn freely. Reference numeral 8 denotes a telescopic boom that is extendable and retractable. A winch (not shown) is mounted on the swivel base 6, and a wire 9 fed out from the winch is hung on the sheave of the hook 10 through the tip sheave of the telescopic boom 8. The portion above the swivel base 6 of the rough terrain crane 1 shown in FIG. 1 and FIG. 2 is the maximum when the hook 10 is placed on the traveling vehicle body 2 and then the telescopic boom 8 is fully reduced to the front. Stay in a lying position.

Reference numeral 11 shown in FIG. 2 is a line connecting the center of the right front jack 5a and the center of the right rear jack 5b, and the rough terrain crane 1 with the outriggers 3 protruding toward the right side when carrying out the crane work. It is a line that becomes the fulcrum of all stability. Similarly, 12 is a line connecting the center of the right rear jack 5b and the center of the left rear jack 5c and is a stable branch line toward the rear, and 13 is the center of the left rear jack 5c and the center of the left front jack 5d. Is a stable branch line toward the left side, and 14 is a line connecting the center of the left front jack 5d and the center of the right front jack 5a and is a stable branch line toward the front. The stable branch lines 11 to 14 change their positions and inclinations shown in FIG. 2 depending on the overhanging state of the jacks 5a to 5d.

FIG. 3 is a block diagram of the total barycentric position display device according to the embodiment. Reference numeral 20 denotes an outrigger overhanging width detecting means, which is a right front overhanging width detecting means 21, a left front overhanging width detecting means 22, a right rear overhanging width detecting means 23 corresponding to the four slides 4 of the outrigger 3. The output width detecting means 24 is configured. Specifically, as the overhang width detection means 20, a length detector that combines a potentiometer with a cord reel and detects the length of the drawn cord with the rotation angle of the potentiometer is used. Reference numeral 25 denotes a jack reaction force detection means, which is a right front jack reaction force detection means 26, a left front jack reaction force detection means 27, a right rear jack reaction force detection means 28, and a left rear jack reaction corresponding to the four jacks 5 of the outrigger 3. The force detection means 29 is comprised. Specifically, a pressure detector or the like that detects the holding side pressure of the jack cylinder constituting the jack 5 is used as the jack reaction force detection means 25.

Reference numeral 30 denotes a boom posture detecting means, which is a boom length detecting means 31 for detecting the boom length of the telescopic boom 8, a boom hoisting angle detecting means 32 for detecting the boom hoisting angle, and the traveling of the swivel base 6 including the telescopic boom 8. Boom turning angle detecting means 33 for detecting the turning angle with respect to the vehicle body 2 is configured. As the boom posture detection means 30, a general detector used in the overload prevention device of the rough terrain crane 1 can be used as it is.

Reference numeral 40 denotes a calculation unit of the total center-of-gravity position display device, which is configured by each unit described below. Reference numeral 41 denotes a total center of gravity position calculating means for calculating the total center of gravity position of the rough terrain crane 1 based on signals from the outrigger extension width detecting means 20 and the jack reaction force detecting means 25. The total center-of-gravity position calculation means 41 calculates the total center-of-gravity position from the reaction force of the four jacks and the position thereof, so that the total center-of-gravity position including the amount of suspension load can be calculated during crane work.

Reference numeral 42 denotes a weight center of gravity position data storage means for storing the weight center of gravity data of all the components such as the traveling vehicle body 2, the outrigger 3, the swivel base 6, and the telescopic boom 8 constituting the rough terrain crane 1. . 43 is a rated stable performance storage means, and in the lifting work with the telescopic boom 8 of the rough terrain crane 1, the rated stable performance, which is a load that can be lifted with a predetermined margin for stability, is shown in the boom posture and outrigger extension. It is means for storing in association with the width. 44 is a rated gravity center position range calculation means, which is based on signals from the outrigger extension width detection means 20, rated stability performance storage means 43, each part weight gravity center position data storage means 42, and boom posture detection means 30. The range is calculated. Here, the rated center-of-gravity position range means that the total center-of-gravity position when the rated load related to stability determined by the boom posture at that time is suspended from the tip of the telescopic boom 8 is calculated and displayed over the entire turning angle. It is a range indicated as a predetermined rectangle or the like.

Reference numeral 45 denotes image data calculation means, which is an image of the total center of gravity position relative to the jack position and the rated center of gravity position range based on signals from the outrigger extension width detection means 20, the total center of gravity position calculation means 41 and the rated center of gravity position range calculation means. Data is calculated.

Reference numeral 46 denotes image display means for displaying an image of the total barycentric position with respect to the jack position and the rated barycentric position range on the screen by a signal from the image data calculating means. Specifically, a display device using liquid crystal can be used.

The operation of the overall center-of-gravity position display device that has described the configuration is as follows. As shown in FIGS. 1 and 2, the rough terrain crane 1 remains in a traveling posture above the swivel base 6, and the four slides 4 of the outrigger 3 are projected to the maximum projecting position. Is also fully extended. At this time, the outrigger extension width detection means 20 shown in FIG. 3 detects the outrigger extension width when the four slides 4 are at the maximum extension, and the total gravity center calculation means 41 of the calculation unit 40 and the rated gravity center position range calculation. Signals are sent to the means 44 and the image data calculation means 45. The jack reaction force detection means 25 detects the reaction force of the four jacks 5 and sends a signal to the total gravity center calculation means 41 of the calculation unit 40. The boom posture detection means 30 detects the boom length, boom undulation angle, and boom turning angle in the running posture, and sends a signal to the rated gravity center position range calculation means 44 of the calculation unit 40.

The total center-of-gravity position calculation means 41 calculates the total center-of-gravity position in the plan view of the rough terrain crane 1 from the outrigger extension width signal and the jack reaction force signal, and outputs the calculation result to the image data calculation means 45. The rated center-of-gravity position range calculation means 44 is based on the weight center-of-gravity position data of each part of the rough terrain crane 1 read from the weight-weight center-of-gravity position data storage means 42, the rated lifting load read from the rated stability performance storage means 43, and the outrigger extension width signal. Calculate the rated center of gravity position range. Specifically, a range indicated as a predetermined rectangle or the like is calculated when the center of gravity position is calculated and displayed over all turning angles when a rated load related to stability is suspended from the tip of the telescopic boom 8 in the traveling posture. The In addition, in the region of a predetermined telescopic boom length and outrigger extension width, the lifting performance is not determined stably and the lifting performance may be determined only by the strength of the rough terrain crane 1, but in this case, it is based on the strength. You may make it employ | adopt a rated load.

The image data calculation means 45 calculates the image data of the total barycentric position with respect to the jack position and the rated barycentric position range based on the outrigger extension width signal, the total barycentric position calculation result, and the rated barycentric position range calculation result. In FIG. 4, the image display means 46 (image display device) displays the jack positions 50a to 50d, the falling branch lines 51 to 54, the rated gravity center position range 55, and the total gravity center position 56 on the screen. Here, when the correspondence between the rough terrain crane 1 shown in FIG. 2 and the display screen is shown, the right front jack 5a is the jack position 50a, the right rear jack 5b is the jack position 50b, the left rear jack 5c is the jack position 50c, and the left front jack. 5d represents the jack position 50d. The right-side falling branch line 11 corresponds to the falling branch line 51, the rearward falling branch line 12 corresponds to the falling branch line 52, the left-side falling branch line 13 corresponds to the falling branch line 53, and the front falling branch line 14 corresponds to the falling branch line 54.

As shown in FIG. 2, in the actual work vehicle, the left and right outriggers are arranged forward and backward by the width of the slide, so that the quadrangle formed by the overturning branch lines 11 to 14 is strictly a parallelogram instead of a rectangle. The quadrilaterals formed on the overturning branch lines 51 to 54 on the display screen of FIG. 4 are displayed as rectangles for simplicity. Of course, the quadrilateral on the display screen may be displayed by accurately reducing the quadrilateral formed by the actual falling branch line.

A position 56 indicated by a black dot is a total barycentric position. The total center-of-gravity position 56 is displayed substantially at the center of the rectangle formed by the falling branch lines 51 to 54 and the rated center-of-gravity position range 55. This is because, when the upper part of the rough terrain crane 1 shown in FIG. 2 is in the running posture and all four slides 4 of the outrigger 3 are fully extended, the total center of gravity position is determined by the fall branches 11 to 14. It shows that it is almost in the center of the quadrilateral that is formed. At this time, the reaction forces of the jacks 5a to 5d are almost the same value.

FIG. 5 shows the contents displayed on the image display means 46 when the rough terrain crane 1 is under crane operation. At this time, the telescopic boom 8 is extended and pivoted in the direction of the right front jack 5a, and a suspended load is suspended at the tip thereof. As shown in FIG. 5, the total center-of-gravity position 56 is approaching the jack position 50a displaying the right front jack 5a. However, the distance L1 is separated from the right-side rated center of gravity position range 55, and the distance L2 is separated from the right-side falling branch line 51. From this, it can be seen that there is a margin before the stable rated performance and the stable limit state are reached. Thus, the distance between the fall fulcrum or the rated center of gravity position range indicated by the line connecting the jack positions and the total center of gravity can be grasped intuitively or instantaneously. Therefore, it is possible to easily know how much stability the work vehicle has at that time.

Further, as shown in FIG. 5, the distance L3 is separated from the front rated gravity center position range 55 and the distance L4 is separated from the front fall branch line 54. From the display of the image display means 46, it can be intuitively understood that L3> L1 and L4> L2. That is, it can be seen that there is less margin for stability on the right side than on the front side, and that attention should be paid to the right side for stability. As described above, according to the overall center-of-gravity position display device according to the present invention, the stable state of the rough terrain crane 1 during the crane operation can be monitored very easily, so that the overturn during the crane operation is prevented and safety is improved. Can do.

FIG. 6 shows that the image data calculation means 45 calculates image data of the rotated jack position so that the jack position is always displayed on the display screen of the image display means 46 with the direction of the telescopic boom currently being operated being directly above. It is an image display of the total center-of-gravity position 56 during crane work on the total center-of-gravity position display device. Reference numeral 57 denotes a telescopic boom displayed on the display screen. The telescopic boom 57 faces the right side which is slightly right of the right front jack position 50a. At this time, the total center-of-gravity position 56 is slightly on the left side of the telescopic boom 57. This is because the center of gravity of the upper part composed of the swivel base 6, the telescopic boom 8 and the suspended load is located on the telescopic boom, and the center of gravity of the traveling vehicle body 2 is predetermined regardless of the turning angle even if it is rotated by a turning operation. This is because the total center-of-gravity position 56 does not coincide with the telescopic boom 57.

As shown in FIG. 6, the total center-of-gravity position 56 is located on the inner side of the right-side falling branch line 51 and the rated center-of-gravity position range 55. Thereby, the point that the rough terrain crane 1 during the crane operation can be easily grasped is the same as in the case of the image display means shown in FIG. According to the image display shown in FIG. 6, the jack position rotated so as to display the jack position with the direction of the telescopic boom being worked on is always displayed directly above, so that in the cab 7 mounted on the swivel base 6, An operating operator can know the position of the jack with reference to the telescopic boom 8 in front of him. Therefore, the positions of the jacks 50a to 50d can be grasped intuitively and accurately.

In the invention according to the claims of the present application, the total center-of-gravity position in the plan view of the work vehicle is calculated from the jack reaction force signal and the outrigger extension width signal, but the outrigger extension width detection means 20, boom posture detection means and 30. Further, the weight center of gravity position of the work vehicle excluding the suspended load is obtained from each part weight center of gravity position data storage means 42, and the weight gravity center position of the suspended load is obtained from the boom posture detecting means 30 and the suspended load detecting means (not shown). The total center of gravity position can also be obtained from

1 is a side view of a rough terrain crane 1. FIG. 1 is a plan view of a rough terrain crane 1. FIG. It is a block diagram of a total gravity center display device. The jack position, the falling branch line, the rated center of gravity position range, and the total center of gravity position are displayed on the screen of the image display means 46. It is an image display of the total center-of-gravity position during crane work. It is an image display of the total center-of-gravity position displayed so that the telescopic boom is directly above.

1: rough terrain crane 2: traveling vehicle body 3: outrigger 4: slide 5: jack 6: swivel base 8: telescopic boom 20: outrigger extension width detecting means 41: total center of gravity position calculating means 42: weight weight position data storage means of each part 43: Rated stable performance storage means 44: Rated gravity center position range calculating means 45: Image data calculating means 46: Image display means

Claims (2)

And pivotally mounting the swivel base to the vehicle body with the A Utoriga with jack, a total center-of-gravity position display device for a working vehicle which is pivoted freely undulating telescopic telescopic boom to the turning base,
Boom posture detecting means for detecting the boom length, boom undulation angle and boom turning angle of the telescopic boom;
A rated centroid position range calculating means for calculating a rated centroid position range based on signals from the outrigger extension width detecting means, rated stable performance storing means, each part weight centroid position data storing means and the boom posture detecting means;
With the signals from the outrigger extension width detecting means, the total gravity center position calculating means in a plan view of the work vehicle from the jack reaction force signal and the outrigger extension width signal, and the rated gravity center position range calculating means, Image data calculation means for calculating the image data of the total barycentric position relative to the jack position and the rated barycentric position range;
An image display device that displays an image of a total barycentric position with respect to a jack position and a rated barycentric position range on a screen based on a signal from the image data calculating means. It said image data calculating means, characterized in that for calculating the image data of the jack position rotated to display the jacking position as just above always telescopic boom direction are working in the display screen of the image Display device The total gravity center display apparatus of the working vehicle of Claim 1.

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