JP7123727B2 - transportation vehicle - Google Patents

Description

The present invention relates to a transportation vehicle, particularly a rear portion of a vehicle body, on which the rear end of a swing frame extending in the front-rear direction is pivotally supported so as to be able to swing up and down, and at least the front portion of a loading platform is movable back and forth on the swing frame. Between the swing frame and the vehicle body, a hoisting cylinder is interposed to hoist the swing frame together with the bed. and by operating both of the hoisting cylinder and the slide cylinder or by operating the slide cylinder alone, the cargo bed is moved to a predetermined rearward tilting position where the object to be conveyed on the ground can get on the cargo bed, The present invention relates to a carrier vehicle which can be driven between a forwardmost mounting position where a loading platform is mounted substantially horizontally on a swinging frame in a laid down state.

The transport vehicle is conventionally known as disclosed in Patent Document 1, and can be used as a so-called dump truck by swinging the swing frame together with the bed. In addition, this transport vehicle allows the object to be transported (such as a construction machine) to be loaded onto the loading platform in a state where the loading platform is lowered from the most forward mounting position to the most retracted tilting position. It is possible to travel while loaded on the vehicle body by moving it to the forward mounting position.

Japanese Utility Model Laid-Open No. 6-18069

In the transport vehicle, there are a dump raising/lowering process in which the loading platform is swung in the upright/downward direction together with the swinging frame, a lowering process in which the loading platform is driven from the most forward mounting position to the most retracted tilting position, and a final retraction of the loading platform. A loading process of driving from the tilted position to the most forward loading position can be selectively executed using a plurality of operation switches.

However, in the conventional art, since the plurality of operation switches can be operated independently of each other, if an operator mistakenly operates these switches at the same time, for example, when the swing frame is greatly tilted and the dump truck is raised, the cargo bed will be lifted. There is a risk of causing an unexpected situation, such as a situation of backward movement.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a transport vehicle that can solve the above problems at once with a simple structure.

In order to achieve the above object, the present invention has a rear end portion of a swing frame extending in the front-rear direction which is pivotally supported on the rear portion of the vehicle body so as to be able to swing up and down, and at least a front portion of a loading platform on the swing frame. A hoisting cylinder is interposed between the swing frame and the vehicle body so as to be movably engaged and swings the swing frame together with the cargo bed. By inserting a slide cylinder for moving back and forth, and by actuating both the hoisting cylinder and the slide cylinder or by actuating the slide cylinder alone, the cargo bed can be moved onto the cargo bed by the object to be conveyed on the ground. A carrier vehicle that can be driven between a predetermined most retracted tilting position and a most forward mounting position in which a loading platform is mounted substantially horizontally on the swinging frame in a lying down state,
A dump lifting process of swinging the loading platform together with the swinging frame in the upright direction, a dumping down process of rocking the loading platform together with the swinging frame in the lying down direction, and driving the loading platform from the most forward mounting position to the most retracted tilting position. and a plurality of operating switches for selectively executing an unloading process or a loading process of driving the cargo bed from the most retracted tilting position to the most forward loading position, and turning on each of the operating switches. and a hydraulic control device for controlling the operation of at least one of the hoisting cylinder and the slide cylinder, wherein the hydraulic control device controls whether any of the operation switches is turned on while the other operation switch is being turned on. When operated, it is characterized in that at least the luffing cylinder and the slide cylinder are brought to a complete stop.

According to the present invention, a dump raising process of swinging the loading platform together with the swinging frame in the upright direction, a dumping down process of rocking the loading platform together with the swinging frame in the lying down direction, and a dumping platform moving from the most retracted tilting position to the most advanced loading position. A plurality of operation switches for selectively executing a loading process in which the platform is driven up to or an unloading process in which the platform is driven from the most forward loading position to the most retracted tilting position, and based on the ON operation of each operation switch In a transportation vehicle provided with a hydraulic control device that controls the operation of at least one of a hoisting cylinder and a slide cylinder, the hydraulic control device turns on another operation switch while one of the operation switches is being turned on. Since at least the hoisting cylinder and the slide cylinder are completely stopped, if an operator mistakenly operates at least two operation switches at the same time, each cylinder will be completely stopped. It is possible to effectively prevent unexpected situations from occurring.

BRIEF DESCRIPTION OF THE DRAWINGS The whole side view which shows the transportation vehicle which concerns on one Embodiment of this invention. FIG. 2 is an exploded side view of a main portion of the transportation vehicle; 3A shows a swing frame and a guide frame of the transport vehicle, (A) is a view from arrow 3A in FIG. 2, (B) is a view from arrow 3B in FIG. 2, and (C) is an arrow 3C in FIG. view 1 shows the relative positions of the swing frame, the vehicle body, the loading platform, etc. of the transportation vehicle, (A) being an enlarged sectional view taken along line 4A-4A in FIG. 1, and (B) being an enlarged sectional view taken along line 4B-4B in FIG. Fig. (C) is an enlarged cross-sectional view taken along line 4C-4C in Fig. 1 It shows the relative positions of the swing frame, the guide frame, the vehicle body, the loading platform, etc. of the transportation vehicle, (D) is an enlarged cross-sectional view taken along line 5D-5D in FIG. 1, and (E) is 5E-5E in FIG. Line enlarged cross-sectional view, (F) is a 5F-5F line enlarged cross-sectional view of FIG. 1, (G) is a 5G-5G line enlarged cross-sectional view of FIG. 6-6 line enlarged sectional view of FIG. Main part front view showing an example of the operation panel of the driver's seat A circuit diagram showing an example of a hydraulic circuit A block diagram showing an example of a control block diagram of a hydraulic control device. FIG. 10 is a side view showing an example of the process of raising the dump truck, and the solid line shows the state where the loading platform is in the most upright posture. FIG. 10 is a side view showing an example of the unloading process, in which (A) shows the state immediately after starting unloading, (B) shows the state in the middle of unloading, and (C) shows the unloading completed state. Flowchart showing an example of control of the dump raising process Flowchart showing an example of control of dump lowering process Flowchart showing an example of unloading process control Flowchart showing an example of loading process control Flowchart showing an example of control for emergency mode

First, an example of a transport vehicle according to the present invention will be described with reference to FIGS. 1 to 7. FIG. The transport vehicle T of the present embodiment is used both as a transport vehicle for transporting the construction machine K (object to be transported) such as a small bulldozer and as a transport vehicle, ie, a dump truck, for transporting a load such as earth and sand. In the description of this specification, the front-rear and left-right directions refer to the front-rear and left-right directions of the transport vehicle T, respectively.

The transportation vehicle T includes a vehicle body F made of a metal skeleton frame, a cabin 1 arranged in front of the vehicle body F, and a loading platform 3 mounted on the vehicle body F behind the cabin 1 via a swing frame 2. and The structure of the swing frame 2 and the related structure of peripheral fixtures functionally related thereto will be specifically described later.

The loading platform 3 is formed in the shape of a flat box with an open top, and includes a bottom plate portion 31 formed in a rectangular shape, a front plate portion 32 standing up from the front edge and left and right side edges of the bottom plate portion 31, and left and right sides. It has side plate portions 33 and 34 and a rear door 35 capable of opening and closing the rear end opening of the loading platform 3 . A pair of left and right lower frames 31b extending in the front-rear direction and parallel to each other project downward integrally from the lower surface of the bottom plate portion 31. Each lower frame 31b extends inward (i.e. (L side) and has a U-shaped cross section.

In this embodiment, the lower ends of the left and right side plate portions 33, 34 are pivotally supported by the left and right side edge portions of the bottom plate portion 31 around the longitudinal axis. It is held by a clamping mechanism (not shown) that detachably couples between 32 . If the coupling by the clamping mechanism is released at any time, the left and right side plate portions 33 and 34 are swung downward around the pivots at the lower ends of the left and right side plate portions 33 and 34, for example, as indicated by the two-dot chain line in FIG. The sides can be opened. The left and right side plate portions 33 and 34 may have their lower ends fixed to the bottom plate portion 31 .

The rear door 35 is hinged to the left and right side plates 33 and 34 at its left and right upper and lower ends. A conventionally well-known hinge switching mechanism (not shown) provided between the rear door 35 and the left and right side plates 33 and 34 allows the lower end of the rear door 35 to rotate back and forth around the lower hinge connecting portion, for example. and a second switching mode in which the upper end portion of the rear door 35 can be rotated back and forth around the upper hinge connecting portion.

In the first switching mode, when the transport vehicle T is used as, for example, a construction vehicle, when the loading platform 3 is at the rearmost retracted position 3R (see, for example, FIG. 11(C)), the ground construction It is selected when the rear door 35 functions as a crossboard for smoothly getting the machine K onto the loading platform 3. - 特許庁On the other hand, the second switching mode is selected when the transport vehicle T is used as a dump truck. By this selection, the soil is removed from the rear end of the loading platform 3 through the rear door 35 opened by the dump lifting operation of the loading platform 3 (see FIG. 10). etc. can be discharged smoothly.

The swing frame 2 includes a swing frame main body 20, a pair of left and right guide rails 21 fixed on the swing frame main body 20 and extending in the front-rear direction, and a rear portion of the swing frame main body 20 fixed to extend rearward. A pair of left and right hinge frames 22 are provided. The swing frame 2 has its rear end (that is, the hinge frame 22) pivotally supported by the rear end of the vehicle body F via the first pivot P1. The loading platform 3) is undulating and rocking between a standing posture (see the solid line in FIG. 10) tilted backward about the first pivot P1 and a substantially horizontal lying posture (see the solid line in FIG. 1 and the chain line in FIG. 10). is movable.

The swing frame main body 20 has a plurality of metal frame members arranged vertically and horizontally in a ladder-like framework to form a substantially rectangular shape elongated in the front-rear direction. Specifically, it is placed and supported on a seating frame (Fc) fixed on the vehicle body (F) so as to be able to contact and separate therefrom. Further, the lower end surface of the lower surface of the loading platform 3 (more specifically, the lower frame 31b described above) is placed and supported so as to be able to contact and separate from the upper surface of the right and left edge portions of the swing frame main body 20. As shown in FIG.

The pair of left and right guide rails 21 are formed to have a U-shaped cross section that opens inward. The rotatably supported guide wheels 36 are engaged so as to roll back and forth. The guide rail 21 has an inclined guide portion 21a inclined upward and rearward for a predetermined length from the vicinity of its front end, and a horizontal guide portion 21b extending horizontally and rearward from the rear end of the inclined guide portion 21a.

Between the swing frame 2 and the vehicle body F, a hoisting device Ac is interposed for hoisting the swing frame 2 together with the loading platform 3 . The hoisting device Ac comprises a link mechanism 23 comprising a pair of links 23a and 23b each having one end pivotally connected to the intermediate portion of the swing frame 2 and the vehicle body F and the other ends being pivotably connected to each other; A luffing cylinder Cc interposed between one link 23a and the vehicle body F is provided. When the hoisting cylinder Cc extends, the swinging frame 2 swings up and down together with the load bed 3 (i.e., raises the dump truck). Operate.

The front portion of the guide frame 4 is connected to the rear portion of the swing frame 2 (the rear end portion of the guide rail 21 in the embodiment) so as to be vertically swingable about the second pivot line P2. The guide frame 4 has left and right side frame portions 40s that are L-shaped in side view, and a rear frame portion 40r that connects the rear end portions (especially upper and lower intermediate portions) of the left and right side frame portions 40s. It is formed in a U shape. Front and rear guide wheels 41 and 42 are rotatably supported on the guide frame 4 (more specifically, the portions of the left and right frame portions 40s extending in the front-rear direction). , the rear guide wheels 41 and 42 are engaged with the lower frame 31b of the loading platform 3 so as to be rollable in the longitudinal direction.

A slide cylinder Cs is interposed between the swing frame 2 and the loading platform 3 to move the loading platform 3 back and forth with respect to the swing frame 2 . The rear end of the piston rod of the slide cylinder Cs is pivotally connected to the rear end of the lower surface of the loading platform 3 so as to be rotatable around the third pivot line P3. Pivotally connected about P2.

As will be described later, the expansion and contraction operation of the slide cylinder Cs alone moves the loading platform 3 to a predetermined most retracted position 3R (see FIG. 11(C)) where the construction machine K on the ground can get on the loading platform 3. , and the most forward mounting position 3F (see the solid line in FIG. 1 and the chain line in FIG. 10) where the bed 3 is mounted substantially horizontally on the swinging frame 2 lying down on the vehicle body F. In this case, the guide rails 21 cooperate with the guide frame 4 to tilt the loading platform 3 rearward so that the tilting angle gradually increases as the loading platform 3 approaches the most retracted tilt position 3R in the latter half of the unloading process of the loading platform 3 (see FIG. 11). ).

Further, at the rear part of the guide frame 4, it is possible to expand and contract between a stretched state in which the loading platform 3 is in the most retracted tilt position 3R and a stowed state in which it is retracted upward from the stretched state (that is, a posture changeable) jack J is provided. In the following description, the operation of the jack cylinder Cj is referred to as extension operation for changing the attitude of the jack J from the retracted state to the extended state. The retraction motion for is sometimes referred to as the contraction motion.

The jack J includes a fixed frame 61 having a rectangular pipe shape in cross section and extending vertically and fixed to the guide frame 4, and a pair of left and right movable frames 62 fitted and supported in the fixed frame 61 so as to be vertically slidable. , an auxiliary wheel 63 rotatably supported at the lower end of each movable frame 62, a jack cylinder Cj interposed between the movable frame 62 and the guide frame 4 to drive the movable frame 62 up and down, and the jack J are stored. A storage sensor J-LS comprising a limit switch (for example, a proximity switch) capable of detecting the state (that is, the movable frame 62 is at the upper limit) is provided.

The retractable sensor J-LS includes, for example, a sensor body 73s including a detection element fixed to the upper end of the fixed frame 61, and a dog piece 62d that closely faces the sensor body 73s in the retracted state (that is, retracted state) of the jack J. In this embodiment, the upper end portion of the movable frame 62 is also used as the dog piece 62d.

A pair of left and right fixed frames 61 are fixed to the inner surfaces of the left and right frame portions 40s (more specifically, the rear end portion forming a trapezoid plate shape elongated in the vertical direction) of the swing frame 2, respectively. The jack cylinder Cj has a cylinder barrel fixed to the left and right intermediate portions of the rear frame portion 40r of the guide frame 4, and the lower end of the piston rod pivots on a horizontal connecting member 64 that connects the lower ends of the left and right movable frames 62 to each other. Supports are connected.

Further, the transport vehicle T engages between the swing frame 2 and the vehicle body F so as to prevent the swing frame 2 from rising from the vehicle body F in a state in which the loading platform 3 has retreated beyond the forward limit with respect to the swing frame 2. A lifting prevention mechanism 50 is provided for releasing the engagement in conjunction with the loading platform 3 when the loading platform 3 is at the forward limit.

In this embodiment, the uplift prevention mechanism 50 is provided with a locking pin 54 fixed to the vehicle body F and a shaft support 51p on the swing frame main body 20 so that the upper and lower intermediate portions thereof can swing back and forth. between the locked position (see the dashed line in FIG. 1 and the solid lines in FIG. 11) and the unlocked position (see the solid lines in FIGS. 1 and 10) in which it is not possible to lock the locking pin 54) a lock spring 52 as biasing means for always biasing the lock member 51 toward the lock position (that is, clockwise in FIG. 1); A lock release member 53 that can be engaged and disengaged is provided at the upper end of the. The unlocking member 53 engages with the locking member 51 so as to move and hold the locking member 51 to the unlocking position in conjunction with the movement of the loading platform 3 from the position just before the forward limit to the forward limit with respect to the swing frame 2 . do.

When the lock member 51 is separated from the lock release member 53 and released, the lock spring 52 biases the lock member 51 to hold it at the lock position. As a result, the lifting of the swing frame 2 from the vehicle body F can be prevented. Further, when the loading platform 3 approaches and reaches the forward limit, the lock member 51 rotates counterclockwise against the lock spring 52 to the unlocked position. The locked state between the frame 2 and the vehicle body F is released. Due to this unlocking, there is no risk that the lifting prevention mechanism 50 will become an obstacle when the swinging frame 2 swings up and down together with the loading platform 3 in the step of dumping up and down of the loading platform 3, which will be described later.

Further, between the loading platform 3 and the swinging frame 2, a forward limit sensor S-LS, which is a limit switch (for example, a proximity switch) capable of detecting the state in which the loading platform 3 is at the forward limit with respect to the swinging frame 2, is provided. The forward limit sensor S-LS includes, for example, a sensor body 71s including a detection element fixed to either one of the swing frame 2 (that is, the side frame portion of the swing frame main body 20) and the loading platform 3 (that is, the lower frame 31b). , and a doctor piece 71d fixed to the other. The docking piece 71d comes close to the sensor body 71s when the loading platform 3 is at or near the front end of the swing frame 2, thereby turning the sensor body 71s into a detection (that is, ON) state.

Further, between the swing frame 2 and the vehicle body F, a floor landing sensor F-LS capable of detecting that the swing frame 2 is laid down on the vehicle body F is provided. The landing sensor F-LS includes, for example, a sensor body 72s including a detection element fixed to one of the vehicle body F (seat frame Fc) and the swing frame 2 (that is, the side frame portion of the swing frame main body 20); It has a doctor piece 72d fixed to either one of them. The dog piece 72d closely faces the sensor main body 72s in a state in which the rocking frame 2 is laid down on the vehicle body F (seat frame Fc), whereby the sensor main body 72s is in a detection (that is, ON) state.

A control panel 10 in the cabin 1 is provided with a plurality of switches that can be operated at any time by a worker (for example, a driver). These switches include a power switch P-SW, a power take-off switch PTO-SW, and an on A dump raising operation switch SW1 for swinging the loading platform 3 together with the swinging frame 2 in the upright direction when operated, and rocking the loading platform 3 together with the swinging frame 2 in the lying down direction when turned on. and a dump operation switch SW3 for driving the cargo bed 3 from the most forward mounting position 3F to the most retracted tilting position 3R (that is, executing the unloading process) by being turned on, and a switch SW3 for unloading operation. At least a loading operation switch SW4 for driving the loading platform 3 from the most retracted tilting position 3R to the most forward mounting position 3F (that is, executing the loading process) by being operated is included at least.

The power switch P-SW is for turning on the power to the electronic control unit EC at any time, and the power take-off switch PTO-SW is for turning on or off the power take-off device (PTO) mounted on the vehicle at any time. In the power connection state, the hydraulic pump PO is driven by transmitting the output of the vehicle-mounted engine to the hydraulic pump PO, which will be described later.

In this embodiment, each of the operation switches SW1 to SW4 is configured by a momentary switch that is turned on only when the operator presses it and automatically returns to the off operation when the operator releases the switch. Alternate switches that can selectively fix the operation and the off operation may be used. Further, in this embodiment, each operation of raising/lowering the dump truck and unloading/loading the cargo bed 3 is performed separately by dedicated switches SW1 to SW4. A single toggle switch that combines the functions of the switches SW1 and SW2 may be used to switch between dumping up (ON), dumping off, and dumping down (ON), or switches SW3 and SW4 for unloading and loading operations. A single toggle switch that integrates the functions of (1) may be used to switch between unloading (ON), OFF, and loading (ON).

Further, the operation panel 10 is provided with an error display means 11 (for example, a group of display lamps) for notifying the operator of an abnormality during process execution (that is, displaying an error). It is desirable that the display mode of the error display means 11 is such that an error state at the beginning of the start and an error state during the process can be easily distinguished from differences in color, blinking, etc. More specifically, which sensor F It is desirable that the display mode be such that it is possible to distinguish whether the error state is caused by a failure of -LS, S-LS, or J-LS.

In this embodiment, the abnormality notification, that is, the error display by the error display means 11 is performed in steps S5, S10, and S15 in flow charts (FIGS. 12 to 15) of each step of dump lifting, lowering, unloading, and loading, which will be described later. , S26, S27, S29, S45, S56, S65, S81, and S82.

Further, in place of or in addition to the error display means 11, the operation panel 10 is provided with an error display means 11 for informing the worker of an abnormality during process execution or calling the worker's attention to a specific operation (for example, the operation of retracting the jack J). A warning sound generating means 12 (for example, a warning buzzer, a speaker, etc.) is provided. The alarm sound from the alarm sound generating means 12 is desirably capable of easily distinguishing, for example, the content and degree of abnormality from the tone color, volume, etc. of the alarm sound, or alternatively or in addition to a simple alarm sound, an error state can be detected. You may make it emit a message sound explaining.

By the way, FIG. 8 shows an example of a hydraulic circuit HC for controlling supply and discharge of hydraulic pressure to and from the hoisting cylinder Cc and the slide cylinder Cs. 9, a hydraulic circuit HC, various control valves V1 to V5 in the hydraulic circuit HC, various switches P-SW, PTO-SW, SW1 to SW5, E-SW, and various sensors F- The electronic control unit EC connected to LS, S-LS, and J-LS constitutes the hydraulic control unit C of the present invention.

The hydraulic circuit HC includes a hydraulic pump PO for sucking and pumping the oil in the oil tank TA, a first electromagnetic section SOL1 for selecting dump raising that guides the discharge side of the hydraulic pump PO to the extension oil chamber 100 of the hoisting cylinder Cc, and a first control valve V1 having a second electromagnetic part SOL2 for selecting jack contraction that guides the discharge side to the contraction oil chamber 101 of the jack cylinder Cj, and the extension oil chamber 100 of the hoisting cylinder Cc to the oil tank TA. A normally closed second control valve V2 having a dump lowering selection third electromagnetic section SOL3 that conducts the return oil passage, and extension oil chambers 102 of the jack cylinder Cj and the slide cylinder Cs on the discharge side of the hydraulic pump PO. , 103 for jack extension/rear slide selection, and a third control valve V3 having a fifth electromagnetic part SOL5 for front slide selection leading to the contraction oil chamber 104 of the slide cylinder Cs. .

In the oil passage between the third control valve V3 and both oil chambers 103, 104 of the slide cylinder Cs, the contraction oil chamber 104 of the slide cylinder Cs and the oil tank TA are normally shut off, and the jack cylinder Cj is connected. A counterbalance valve Vcb is provided for starting the extension operation of the slide cylinder Cs by opening when the extension limit is reached and the operating oil pressure rises above a predetermined value. That is, the counterbalance valve Vcb extends the jack cylinder Cj first and reaches its extension limit before the extension operation of the slide cylinder Cs starts. sequence control with .

The electronic control unit EC is based on operation inputs to various operation switches P-SW, SW1 to SW4 and emergency mode switch E-SW, and detection results of various sensors F-LS, S-LS, J-LS. , control the electromagnetic units SOL1 to SOL5 of the respective control valves V1 to V3 according to a preset and stored control program to control the supply and discharge of hydraulic pressure to the cylinders Cc, Cs, Cj operation control). As a result, the transport vehicle T can execute the dump lifting/lowering process, and the unloading process and loading process of the loading platform 3 .

The basic operations of the dump lifting/lowering process and the unloading/loading process of the loading platform 3 controlled by the hydraulic control device C described above will now be described in order. Each process is performed in a state in which the power switch P-SW is turned on and the power take-off switch PTO-SW is set to the PTO connection state. If not, the electromagnetic parts SOL1-SOL5 of the respective control valves V1-V3 are in a non-excited state, and each process is in a standby state.
[Basic operation of dump raising process]
When the dump raising operation switch SW1 is turned on, the first electromagnetic portion SOL1 of the first control valve V1 is excited, whereby the discharge side of the hydraulic pump PO communicates with the extension oil chamber 100 of the luffing cylinder Cc. As a result, the hoisting cylinder Cc extends, and in conjunction with this, the swinging frame 2 (therefore, the loading platform 3) swings in the standing direction as shown in FIG. An object flows down by its own weight from the rear end and is discharged.

Further, when the dump-lifting operation switch SW1 is turned off during the dump-lifting operation (that is, the operator releases the switch SW1), the first control valve V1 returns to the neutral position, and the hoisting cylinder Cc extends. It stops and the swing frame 2 (and thus the loading platform 3) stops at the raised position at that time.
[Basic operation of dump lowering process]
When the damping lowering operation switch SW2 is turned on in the above-described dumping up state, the electromagnetic part SOL3 of the second control valve V2 is energized, whereby the extension oil chamber 100 of the hoisting cylinder Cc communicates with the oil tank TA. do. As a result, the hoisting cylinder Cc on which the weight of the bed 3 acts is contracted, and the swinging frame 2 (therefore, the bed 3) swings in the lying down direction, that is, the dump is lowered, and finally, as shown in FIG. Then, it stops on the vehicle body F in a horizontal lying posture.

Further, when the dump lowering operation switch SW2 is turned off during the dump lowering operation (that is, the operator releases the switch SW2), the second control valve V2 returns to the neutral position and the hoisting cylinder Cc is extended. The connection between the oil chamber 100 and the oil tank TA is cut off. As a result, the contraction operation of the hoisting cylinder Cc is stopped, and the swing frame 2 (therefore, the loading platform 3) stops at the lowered position at that time.
[Basic operation of unloading process]
When the lowering operation switch SW3 is turned on, the fourth electromagnetic portion SOL4 of the third control valve V3 is energized, so that the discharge side of the hydraulic pump PO is extended to the extension oil chambers 103 and 103 of the slide cylinder Cc and the jack cylinder Cj. 102. At this time, due to the action of the counterbalance valve V4, sequence control is performed such that the jack cylinder Cj extends first and reaches its extension limit before the extension of the slide cylinder Cs begins.

During this time, in conjunction with the extension of the slide cylinder Cs, the loading platform 3 moves backward along the swing frame 2 (guide rail 21) and the guide frame 4 as shown in FIGS. In particular, the front portion of the loading platform 3 is slightly lifted due to the front tilting form of the guide rails 21 and the backward tilting motion of the guide frame 4 . Then, as the loading platform 3 continues to move rearward, the guide wheel 36 at the front of the loading platform 3 approaches the second pivot line P2, and the rearward lowering angle of the loading platform 3 gradually increases. As shown, the extension of the slide cylinder Cs stops at the most retracted position 3R where the rear end of the loading platform 3 touches the ground.

In this state, the rear door 35 of the loading platform 3 is swung backward around the lower hinge connecting portion as shown in FIG.
[Basic operation of the loading process]
When the loading operation switch SW4 is turned on while the loading platform 3 is unloaded, the fifth electromagnetic part SOL5 of the third control valve V3 is energized, so that the discharge side of the hydraulic pump PO is supplied with the contraction oil of the slide cylinder Cc. Communicates with chamber 104 . As a result, the cargo bed 3 moves forward along the swing frame 2 (guide rail 21) and the guide frame 4 in conjunction with the contraction of the slide cylinder Cs. By cooperation, the posture is gradually changed to the horizontal posture (that is, the posture changes as shown in FIG. 11(C)→(B)→(A)→FIG. 1). Then, when the loading platform 3 finally reaches the limit of forward movement with respect to the swing frame 2, the slide cylinder Cs contracts and stops at the forwardmost mounting position 3F.

Next, the second electromagnetic portion SOL2 of the first control valve V1 is excited to communicate with the contraction oil chamber 101 of the jack cylinder Cj. As a result, the jack cylinder Cj is contracted, and the retracting action of the jack J is completed at the contraction limit.

Next, description will be made with reference to the flow charts of FIGS. 12 to 16 showing an example of the control procedure of each process described above. In the flow chart of each process, the power supply switch P-SW is turned on to energize the electronic control unit EC, and the power take-off switch PTO-SW is used to connect the power take-off unit to the power connection state. Executed according to a memory control program.
[Control example of dump raising process]
In FIG. 12, when the dump raising operation switch SW1 is turned on in step S1, the process proceeds to step S2 to determine whether any of the other operation switches SW2 to SW4 is being operated. In step S3, all cylinders Cc, Cs, and Cj are brought to an emergency stop state, and the state returns to the standby state. Here, the emergency stop means a state in which expansion and contraction of all the cylinders Cc, Cs, and Cj are stopped. It refers to a state in which none of the oil chambers Cc, Cs, Cj are communicated with, and therefore none of the cylinders Cc, Cs, Cj expands or contracts. It should be noted that the expansion and contraction of all the cylinders Cc, Cs, and Cj may be prevented by blocking the discharge of oil from each oil chamber to the tank T.

If it is determined in step S2 that the other operation switches SW2 to SW4 are not being operated, the process advances to step S4 to determine whether the storage sensor J-LS and forward limit sensor F-LS are both on (that is, It is determined whether the jack J is in the retracted state and the loading platform 3 is in the forward limit. If none of them are ON, the process proceeds to step S5, an error is displayed, the dump raising process is not started, and the standby state is entered.

If both sensors J-LS and F-LS are both ON in step S4, the process advances to step S6 to excite the first electromagnetic part SOL1 of the first control valve V1, thereby extending the hoisting cylinder Cc. Since the oil pressure is supplied, the loading platform 3 starts swinging in the upright direction, that is, the dump raising operation is started.

Next, in step S7, it is checked whether both sensors J-LS and F-LS are on during the dump raising operation (that is, if one of the sensors J-LS and F-LS is off and the jack is stored). It is checked whether the cargo bed 3 is protruded from the posture or whether the cargo bed 3 is displaced rearward), and if both of them are still on, the process proceeds to step S8, and it is determined again whether the dump raising operation switch SW1 is on. be. Then, if the dump raising operation switch SW1 is being turned on, the process returns to step S7, and if it is not being turned on, the process proceeds to step S9. In this step S9, the first electromagnetic section SOL1 that was energized in step S6 is de-energized, so that the extension of the derricking cylinder Cc is stopped and the dump raising operation is stopped.

When both sensors J-LS and F-LS are not turned on in step S7, the process proceeds to step S10, an error is displayed, and the process proceeds to step S9 to stop the dump raising operation. Standby state.
[Control example of dump lowering process]
In FIG. 13, when the damping lowering operation switch SW2 is turned on in step S11, the process proceeds to step S12 to determine whether any of the other operation switches SW1, 3, and 4 is being operated. If so, the process proceeds to step S13, in which all the cylinders Cc, Cs, and Cj are brought to an emergency stop state, and the system returns to the standby state again.

If it is determined in step S12 that the other operation switches SW1, 3, and 4 are not being operated, the process advances to step S14 to determine whether the retraction sensor J-LS is on (that is, the jack J is retracted). is determined. Then, if it is not ON, the process proceeds to step S15, an error is displayed, the dump lowering process is not started, and the standby state is entered.

If the retraction sensor J-LS is ON in step S14, the process proceeds to step S16, where hydraulic oil is supplied to the slide cylinder Cs by excitation of the fifth electromagnetic section SOL5 of the third control valve V3 to move the bed 3 forward. (ie hydraulic pressure for retraction) is started to be supplied, thereby urging the slide cylinder Cs in the retraction direction (ie, the loading platform 3 in the forward direction). Next, in step S17, it is determined whether or not the storage sensor J-LS is on. If it is on, the process proceeds to step S18. Then, in step S18, it is judged whether or not the forward limit sensor S-LS is ON (that is, the forward limit sensor S-LS of the bed 3 with respect to the swing frame 2). If not ON, the process proceeds to step S28. .

In this step S19, it is determined whether or not a predetermined preliminary forward travel time T1 (for example, 0.5 seconds) has elapsed since the forward limit sensor F-LS was determined to be ON in step S18. The process returns to S19, and if it has passed, the process proceeds to step S21 via step S20. Then, in step S20, the fifth electromagnetic unit SOL5 that was energized in step S16 is de-energized, stopping the supply of contraction hydraulic pressure to the slide cylinder Cs and stopping forward movement of the loading platform 3 with respect to the swing frame 2. be done.

In step S21, the extension oil chamber 100 of the hoisting cylinder Cc communicates with the oil tank TA by energizing the third electromagnetic portion SOL3 of the second control valve V2, and the hoisting cylinder Cc is contracted by the dead weight of the bed 3. , the tilting direction swing of the loading platform 3, that is, the dump lowering operation is started.

Next, in step S22, it is determined whether or not the storage sensor J-LS is on, and if it is on, the process proceeds to step S23. In this step S23, it is determined whether the damping lowering operation switch SW2 is being turned on. If it is being turned on, the process returns to step S22 to continue the damping lowering operation, and if it is not being turned on, the process proceeds to step S24. In this step S24, the third electromagnetic section SOL3 that was energized in step S21 is de-energized, so that the extension oil chamber 100 of the hoisting cylinder Cc is disconnected from the oil tank TA, and dump lowering is completed. Even if the dump lowering operation switch SW2 is turned on, the dump lowering is completed when the bed 3 falls down, and in this case, the output oil pressure from the hydraulic pump PO is relieved, that is, returned to the oil tank TA side.

If it is determined in step S17 that the retraction sensor J-LS is off (abnormal), the process proceeds to step S26 via step S25 and returns. That is, in step S25, as in step S20, the slide cylinder Cs stops contracting and forward movement of the loading platform 3 stops, and in step S26, an error is displayed and the dump lowering process enters a standby state.

If it is determined in step S22 that the storage sensor J-LS is off (abnormal), the process proceeds to step S27 to display an error, and then returns to step S24 to enter a standby state for the damping lowering process.

In step S28, the time elapsed after the fifth electromagnetic unit SOL5 was energized (that is, the loading platform 3 started to move forward) in step S16 is sufficiently long (that is, the forward limit sensor S-LS is assumed to be out of order). It is determined whether or not a predetermined failure determination time T2 (for example, 20 seconds) has elapsed, and if not, the process returns to step S17. If it is determined in step S28 that the failure determination time T2 has elapsed, the process proceeds to step S29 to display an error, and then proceeds to step S20. Therefore, even if the forward limit sensor S-LS is faulty and remains off, after the failure determination time T2 elapses, the processes of steps S20 to S24 are executed without any trouble until the dump lowering process is completed, and the dump lowering process is started. It is possible to finish.
[Control example of unloading process]
In FIG. 14, when the lowering operation switch SW3 is turned on in step S41, the process proceeds to step S42 to determine whether any of the other operation switches SW1, 2, and 4 is being operated. , the process advances to step S43 to bring all the cylinders Cc, Cs, Cj to an emergency stop state, and returns to the standby state again.

If it is determined in step S42 that the other operating switches SW1, 2, and 4 are not being operated, the process advances to step S44 to determine whether the floor landing sensor F-LS is on (ie, the swing frame 2 is on the vehicle body F). If it is not on, the process proceeds to step S45, an error is displayed, the unloading process is not started, and the standby state is entered.

If it is determined in step S44 that the landing sensor F-LS is ON, the process proceeds to step S46, where the extension oil chamber 100 of the hoisting cylinder Cc is activated by the excitation of the third electromagnetic portion SOL3 of the second control valve V2. is in communication with the oil tank TA. As a result, the hoisting cylinder Cc is urged in the contraction direction by the dead weight of the bed 3, so that the bed 3 is always urged and held in the lying posture on the vehicle body F during the unloading process. This state is called "dump contraction" in step S46 of FIG.

Next, in step S47, it is determined whether the forward limit sensor S-LS is ON (that is, the forward limit of the loading platform 3 with respect to the swing frame 2). If ON, the process proceeds to step S48.

In this step S48, the excitation of the fifth electromagnetic section SOL5 of the third control valve V3 starts supply of hydraulic oil (that is, contraction hydraulic pressure) to the slide cylinder Cs in order to move the bed 3 forward. If the cargo bed 3 is slightly behind the normal forward limit (even in this case, the forward limit sensor F-LS is ON, that is, there is some width in the detection range), the cargo bed 3 is forward to the normal forward limit. Moving. Next, the process proceeds to step S49, in which the predetermined preliminary advance time T3 (for example, 0.5 seconds) has passed since the fifth electromagnetic unit SOL5 was energized in step S48 (that is, from the start of forward movement of the loading platform 3). If it is determined that the time has elapsed, the process proceeds to step S51 via step S50. Then, in step S50, the fifth electromagnetic unit SOL5 is de-energized, the supply of contraction hydraulic pressure to the slide cylinder Cs is stopped, and the forward movement of the loading platform 3 is stopped.

Further, in step S51, the discharge side of the hydraulic pump PO communicates with the extension oil chambers 103 and 102 of the slide cylinder Cc and the jack cylinder Cj by energizing the fourth electromagnetic portion SOL4 of the third control valve V3. In this case, due to the action of the counterbalance valve V4, the extension operation of the jack cylinder Cj and the extension operation of the slide cylinder Cs (that is, the rearward movement of the loading platform 3) are sequence-controlled in this order. When the extension limit is reached or the load bed 3 touches the ground, the extension of the slide cylinder Cs stops, and at this time the load bed 3 reaches the most retracted position 3R.

Steps S52 and S53 are executed during the sequence control. That is, in step S52, it is determined whether or not the landing sensor F-LS is on (that is, the swing frame 2 is on the ground on the vehicle body F). It is determined whether the unloading switch SW3 is being turned on. If the lowering switch SW3 is being turned on, the process returns to step S52. As a result, the third control valve V3 returns to the neutral position, so that the extension of the jack cylinder Cj and the slide cylinder Cs is stopped.

Next, in step S55, the third electromagnetic portion SOL3 of the second control valve V2 that was energized in step S46 is de-energized, so that the extension oil chamber 100 of the hoisting cylinder Cc is cut off from the oil tank TA. "dump compression" state is released.

Also, if it is determined in step S52 that the landing sensor F-LS is not on (that is, the swing frame 2 is in the state of being landed), the process proceeds to step S56, an error is displayed, and the process returns. The operation of each cylinder Cc, Cs, Cj) is in a standby state.
[Example of control of loading process]
In FIG. 15, when the loading operation switch SW4 is turned on in step S61, the process proceeds to step S62 to determine whether any of the other operation switches SW1 to SW3 is being operated. In step S63, all cylinders Cc, Cs, and Cj are brought to an emergency stop state, and the system returns to the standby state.

If it is determined in step S62 that the other operation switches SW1 to SW3 are not being operated, the process advances to step S64 to determine the start, that is, the floor landing sensor F-LS is ON (that is, the swing frame 2 is on the vehicle body F). If it is not on, the process proceeds to step S65, an error is displayed, the loading process is not started, and the standby state is entered.

If it is determined in step S64 that the landing sensor F-LS is ON, the process proceeds to step S67 via step S66. In step S66, the extension oil chamber 100 of the hoisting cylinder Cc is brought into communication with the oil tank TA by the excitation of the third electromagnetic portion SOL3 of the second control valve V2. Since it is urged in the contraction direction, the loading platform 3 is always urged and held in the laid down posture on the vehicle body F during the loading process. This state is called "dump contraction" in step S66 of FIG. 15 as in step S46.

Further, in step S67, supply of working oil (that is, contraction hydraulic pressure) to the slide cylinder Cs to move the bed 3 forward is started by energizing the fifth electromagnetic part SOL5 of the third control valve V3. It moves forward with respect to the swing frame 2 . Next, in step S68, it is determined whether or not the landing sensor F-LS is on (that is, the swing frame 2 is on the floor). If it is on, the process proceeds to step S69. In this step S69, it is determined whether the loading operation switch SW4 is being turned on. forward limit).

Then, in step S70, when the forward limit sensor S-LS is turned on (that is, the cargo bed 3 is at the forward limit), the process proceeds to step S71, and the time elapsed from the turn-on of the forward limit sensor S-LS is a predetermined extended forward time T4. It is determined whether or not (for example, one second) has elapsed, and if it has elapsed, the process proceeds to step S73 via step S72. Then, in step S72, the fifth electromagnetic unit SOL5 that was energized in step S67 is de-energized, stopping the supply of contraction hydraulic pressure to the slide cylinder Cs, and the forward movement of the loading platform 3 is stopped at the forward limit.

If it is determined in step S70 that the forward limit sensor S-LS is not ON (that is, the loading platform 3 is not in the It is determined whether a predetermined failure determination time T2 (for example, 20 seconds) has elapsed since the forward movement was started) (that is, it is long enough to presume that the forward limit sensor S-LS has failed). If not, the process returns to step S68, and if it is determined that the time has passed, the process proceeds to step S72. As a result, even if the forward limit sensor S-LS remains off due to a failure, the processing of steps S73 to S80 described below can be performed after the failure determination time T2 elapses, and there is a problem until the end of the storage of the jack J. It is possible to proceed to the end of the loading process by executing without

Then, in step S73, the contraction hydraulic pressure is supplied to the jack cylinder Cj by the excitation of the second electromagnetic part SOL2 of the first control valve V1, and the jack J is contracted. to alert workers. Next, in step S75, it is determined whether or not the landing sensor F-LS is on (that is, the swing frame 2 is on the vehicle body F), and if it is on, the process proceeds to step S76.

In this step S76, it is determined whether or not the time elapsed from the start of contraction of the jack cylinder Cj has passed a predetermined termination determination time T5 (for example, 10 seconds).If not, the process proceeds to step S77. In this step S77, it is determined whether or not the storage sensor J-LS is turned on (that is, the jack cylinder Cj is at the contraction limit). In step S78, it is determined whether or not a predetermined extended retraction time T6 (for example, 0.8 seconds) has elapsed since the retraction sensor J-LS was turned on (that is, the jack cylinder Cj is at its contraction limit). If so, the process proceeds to step S80 via step S79.

The end determination time T5 is set sufficiently longer than the extended retraction time T6 and set longer than the required retraction time of the jack J (for example, 5 seconds). Further, the extended retraction time T6 is set shorter than the required retraction time of the jack J.

Then, in step S79, the second electromagnetic section SOL2 that has been energized in step S73 is de-energized to stop the contraction of the jack cylinder Cj, and the warning sound generating means 12 also stops warning. Further, in step S80, the third electromagnetic portion SOL3 of the second control valve V2 that was energized in step S66 is de-energized, so that the extension oil chamber 100 of the hoisting cylinder Cc is cut off from the oil tank TA. "Shrink" is canceled.

If it is determined in step S76 that the time elapsed from the start of retraction of the jack cylinder Cj has passed the predetermined termination determination time T5 (for example, 10 seconds), the process proceeds to step S79 to retract the jack cylinder Cj and issue an alarm. The alarm by the sound generating means 12 is stopped.

Further, if it is determined in step S75 that the landing sensor F-LS is not ON (that is, the swing frame 2 is in a state of landing), the flow advances to step S81 to display an error, and then to step S79. The loading process will be in a standby state.

If it is determined in step S68 that the landing sensor F-LS is not on (that is, the swinging frame 2 is in the state of landing), the process proceeds to step S82, an error display, and then proceeds to step S83 and then to step S80. move on. Then, in step S83, the fifth electromagnetic section SOL5 that was energized in step S67 is de-energized, and the contraction operation of the slide cylinder Cs is stopped, so that the loading process is again in a standby state. Note that steps S73 to S80 are continued even if the loading operation switch SW4 is turned off.

The example of control of the dump lifting/lowering process, unloading process, and loading process of the present embodiment has been described above. Particularly, according to the present embodiment, the following special effects can be achieved.

For example, in the dump lowering process shown in FIG. 13 of the present embodiment, when the dump lowering operation switch SW2 is turned on while the loading platform 3 is standing, the loading platform 3 swinging in the lying down direction falls down on the vehicle body F. Hydraulic oil is supplied to the slide cylinder Cs for a predetermined preliminary advance time T1 in order to advance the bed 3 (step S16 to S20). As a result, for example, when the dump truck 3 is left in the dump-up state for a long period of time, and the truck truck 3 is slightly lowered (that is, the slide cylinder Cs is slightly shrunk due to oil leakage or the like), the dump-down operation switch SW2 is turned on. Even when the ON operation is performed, the slide cylinder Cs can be moved forward to the forward limit before the dumping down of the loading platform 3 is completed. As a result, it is possible to effectively prevent the loading platform 3 from protruding rearward from the regular mounting position 3F on the vehicle body F in the dump-lowering completed state (that is, the running posture of the vehicle). In addition, it is not necessary for the operator in the driver's seat to get off the vehicle and visually check whether or not the cargo bed 3 is overhanging rearward each time.

Further, in the present embodiment, when the loading platform 3 is retracted beyond the forward movement limit with respect to the swing frame 2, the swing frame 2 and the vehicle body F are engaged with each other so as to prevent the swing frame 2 from rising from the vehicle body F. In addition, a lifting prevention mechanism 50 is provided to release the engagement in conjunction with the loading platform 3 when the loading platform 3 is at the forward limit. Therefore, without impairing the dump lifting/lowering function of the loading platform 3, the lifting of the swinging frame 2 (therefore, the loading platform 3) is mechanically prevented during the unloading/loading work of the loading platform 3, thereby preventing the load from collapsing. It is valid. Further, according to the processing of steps S16 to S20, the slide cylinder Cs can be moved forward to the forward limit (thus disengaging the lifting prevention mechanism 50) before the dumping down of the loading platform 3 is completed. is completed, it is possible to effectively prevent the uplift prevention mechanism 50 in the engaged state from interfering with the loading platform 3 and being damaged.

By the way, while the transport vehicle T is traveling with the loading platform 3 lying down on the vehicle body F together with the swing frame 2, if a large inertial force acts on the loading platform 3 to the rear due to sudden acceleration, the slide cylinder Cs in the contracted state is affected. A large external force acts in the extension direction. When oil leaks from the piston seal portion or the like inside the slide cylinder Cs that receives the external force, the slide cylinder Cs extends slightly, causing the bed 3 to shift slightly rearward from the swing frame 2 beyond the normal forward movement limit. If the engagement between the rocking frame 2 and the vehicle body F by the lifting prevention mechanism 50 is incomplete in relation to this, the rocking frame 2 and the vehicle body F may be pushed up due to unevenness of the road surface during running in that state. When the loading platform 3 and the like vibrate up and down due to the load, there is a possibility that the lifting prevention mechanism 50 will be stuck in a non-engageable state. In this state, it becomes impossible to prevent the swinging frame 2 (therefore, the loading platform 3) from being lifted up during the work of unloading and loading the loading platform 3.

On the other hand, in the unloading process shown in FIG. 14 of the present embodiment, when the unloading operation switch SW3 is turned on with the cargo bed 3 lying down, the forward limit sensor S-Ls detects the forward limit of the cargo bed 3. If so, hydraulic oil is supplied to the slide cylinder Cs for the preliminary advance time T3 to advance the cargo bed 3 before starting the rearward movement of the cargo bed 3 (see steps S47 to S50). Therefore, even if the loading platform 3 is slightly deviated rearward from the normal forward movement limit with respect to the swing frame 2 when the unloading operation switch SW3 is turned on, the loading platform 3 is not moved backward in step S51. 3 can be reliably moved forward to the normal forward limit, the lifting prevention mechanism 50 can be reliably reset once to the disengaged state. As a result, immediately after that, the lifting prevention mechanism 50 can be reliably switched to the engaged state in conjunction with the rearward movement of the loading platform 3, so that the rocking frame during the unloading/loading operation of the loading platform 3 is prevented. 2 (therefore, the loading platform 3) can be reliably prevented from floating.

Further, if the forward limit sensor S-Ls is in a non-detecting state when the unloading operation switch SW3 is turned on, the cargo bed 3 is in a certain extent from the regular forward limit (that is, the detection range of the forward limit sensor S-Ls). It is considered that the lifting prevention mechanism 50 is located on the rear side of the vehicle body F and engages the swing frame 2 with the vehicle body F. As shown in FIG. Here, the case where the advance limit sensor S-Ls is in a non-detecting state when the unloading operation switch SW3 is turned on is, for example, the case where the unloading process is restarted after a temporary stop in the middle of the unloading process. The lifting prevention mechanism 50 engages the swing frame 2 with the vehicle body F through steps S47 to S50 at the start of the lowering process before the temporary stop. Therefore, unlike the case where the forward limit sensor S-Ls is in the detection state, it is no longer necessary to move the cargo bed 3 forward. .

Moreover, in the unloading process of the present embodiment, when the unloading operation switch SW3 is turned on with the loading platform 3 lying down, in step S51, after the jack J is extended from the retracted state to the overhanging state, the loading platform 3 is opened. The extension of the jack cylinder Cj and the extension of the slide cylinder Cs are sequenced in this order so that the rearward movement of the . As a result, in the process of lowering the loading platform 3 from the running posture of the vehicle, the rearward movement of the loading platform 3 is started after the extension of the jack J is completed. Concurrently, work safety is further enhanced.

Further, in this embodiment, the hydraulic control device C, which controls the supply and discharge of hydraulic pressure to and from the hoisting cylinder Cc, causes the hoisting cylinder Cc to contract during the unloading process (FIG. 14) and the loading process (FIG. 15) of the loading platform 3. The supply/discharge control (that is, "dump contraction" during steps S46 to S55 and steps S66 to S80) is executed so as to maintain the engine speed. As a result, in the process of unloading or loading the loading platform 3, even if a large external force acts on the hoisting cylinder Cc from the loading platform 3 through the swing frame 2 due to movement of the center of gravity of the loading platform 3, vibration, etc. , the luffing cylinder Cc can be maintained in the contracted state. As a result, the hoisting cylinder Cc is slightly extended, and the swinging frame 2 (therefore, the loading platform 3) is lifted from the upper surface of the vehicle body F, so that the behavior and posture of the loading platform 3 (and thus the load) become unfavorable during the unloading process or the loading process. Stabilization can be effectively prevented in advance.

Moreover, in the above-described unloading process and loading process, the lifting prevention mechanism 50 engages the swinging frame 2 and the vehicle body F so as to prevent the lifting of the swinging frame 2 from the vehicle body F.・It is possible to mechanically prevent the lifting of the swing frame 2 (therefore, the loading platform 3) during the loading operation. As a result, the lifting of the loading platform 3 (swing frame 2) can be prevented more reliably. For example, during unloading/loading operations, the swinging frame 2 suddenly rises, causing the loading platform 3 to vibrate and causing the load to collapse. Such situations can be effectively prevented.

Further, in this embodiment, in the loading process (FIG. 15) in which the loading platform 3 is driven from the most retracted tilting position 3R to the most forward loading position 3F, the forward limit sensor S-Ls detects the state in which the loading platform 3 is at the forward limit in step S70. is detected, the hydraulic oil supply to the slide cylinder Cs for advancing the loading platform 3 is extended and continued until a predetermined extended forward time T4 elapses, and the supply is resumed after the extended forward time T4 elapses. Stop (see steps S71 and S72). As a result, the cargo bed 3 can be more reliably positioned at the forward limit at the end of the loading process without being affected by the detection error of the forward limit sensor S-LS. can be effectively prevented from projecting unnecessarily. Moreover, since a forward limit sensor with high detection accuracy is not required, the cost can be reduced accordingly.

Further, after the advance limit sensor S-Ls detects that the loading platform 3 is at the advance limit in step S70, even if the ON operation of the loading operation switch SW4 is canceled before the extended advance time T4 elapses, Until the extended advance time T4 elapses, the hydraulic oil supply for advancing the loading platform 3 is continued (see steps S70 to S72). As a result, the cargo bed 3 can be more reliably positioned at the forward limit, and it is possible to more effectively prevent the rear end of the cargo bed 3 from projecting unnecessarily during travel of the vehicle.

Furthermore, in the present embodiment, during the contraction operation of the jack J in the loading process shown in FIG. The retraction sensor J-Ls detects that the jack J is in the retracted state even after a predetermined termination determination time T5 has passed since the jack J started retracting (see steps S73 to S79). If it is not detected (i.e., it is judged as "yes" at step S76), a shortcut is taken from step S76 to step S79, and the contraction operation of the jack J is terminated. As a result, even if the storage sensor J-Ls malfunctions or breaks down, the retraction operation is automatically terminated when the end determination time T5 elapses. This eliminates the need for workers to get off the vehicle one by one and visually check, which improves work efficiency.

In addition, when the retraction sensor J-Ls detects that the jack J is retracted during the contraction operation of the jack J in step S73, the jack J is retracted after a predetermined extended retraction time T6 has elapsed from the detection. The contraction motion is ended (see steps S77 to S79). As a result, even after the retraction sensor J-Ls detects the retracted state, the contraction operation can be continued for the extended retraction time T6 just in case. , the jack J can be more reliably placed in the retracted state.

Furthermore, in the present embodiment, when any of the operation switches SW1 to SW4 is being turned on and another operation switch is turned on, all the cylinders Cc, Cs, and Cj are completely stopped (for example, during the dump raising process). Then, see steps S1 to S3, steps S11 to S13 in the dump lowering process, steps S41 to S43 in the unloading process, and steps S61 to S63 in the loading process). As a result, it is possible to effectively prevent an unexpected situation from occurring in the cargo bed 3 or the like due to simultaneous operation of at least two operation switches SW1 to SW4.
[Example of control for emergency mode]
By the way, the hydraulic control device C of the present embodiment has an emergency mode switch E-SW in order to temporarily end at least one specific process (dump lowering process and loading process in the present embodiment) even in the middle of the process. It is configured to be able to shift to "emergency mode" based on the ON operation. That is, in this emergency mode, the detection results of the sensors S-LS, F-LS, and J-LS for forward limit, landing, and retraction are ignored, and operation inputs to the operation switches SW2 and SW4 related to the specific process are ignored. Hydraulic oil supply/discharge control for each of the cylinders Cc, Cs, and Cj can be executed such that the specific process can be ended for the time being only by

The transition to the emergency mode is performed by a specific sensor preset for each of the operation switches SW2 and SW4 of the specific process (in this embodiment, when the dump lowering operation switch SW2 is turned on, the storage sensor J-LS, the loading operation switch When the switch SW4 is turned on, it is permitted only in a specific error state determined based on the detection mode of the landing sensor F-LS (in this embodiment, each sensor J-LS, F-LS is off, that is, in a failure state). be. Here, the specific sensor is a sensor that may make it difficult to control the cylinders Cc, Cs, and Cj so as to prevent the loading platform 3, etc. from taking a dangerous posture if it fails during execution of the process. be.

This emergency mode control response is executed in parallel with the control of each step of dump lifting, lowering, unloading and loading as described above. And especially when it transfers to emergency mode, priority is given to control of emergency mode over control of each process. Next, an example of control measures regarding the emergency mode will be described with reference to FIG.

First, in step S101, it is determined whether or not a standby state has occurred at the start of each process or in the middle of a process. In step S102, it is determined whether or not the emergency mode switch E-SW has been turned on, and if it has been turned on, the process proceeds to step S103.

In step S103, it is determined whether or not the damping lowering operation switch SW2 has been turned on, and if it has been turned on, the process proceeds to step S104 to determine whether the storage sensor J-LS is on (that is, in the detection state). If the retraction sensor J-LS is ON, the process proceeds to step S105 to permit the transition to the emergency mode, and if the retraction sensor J-LS is not ON, the process proceeds to step S106 to permit the transition to the emergency mode. It is forbidden.

Therefore, when the shift to the emergency mode is permitted in step S105, the storage sensor J-LS and the forward limit sensor S-LS are judged during the dump lowering process (FIG. 13) (that is, steps S14, In S17, S18, S22), the control process of the dump lowering process is advanced (for example, steps S14, S16 to S24 are sequentially executed) assuming that all are on, so that the dump lowering process can be advanced to the end. .

Further, for example, when the storage sensor J-LS is normal (ON) and the forward limit sensor S-LS fails (OFF), the transition to the emergency mode is prohibited in step S106. In this case, the dump lowering process is executed according to the control procedure of FIG. Therefore, for example, when it is determined in step S28 that the predetermined failure determination time T2 has elapsed while the forward limit sensor S-LS is off, the process proceeds to steps S20 to S24 to stop the damping lowering process. You can go to the end.

On the other hand, if it is determined in step S103 that the dump lowering operation switch SW2 has not been turned on, the process advances to step S107 to determine whether the loading operation switch SW4 has been turned on, and if so, step S108. , and if the ON operation has not been performed, return. Then, in step S108, it is determined whether or not the landing sensor F-LS is on (that is, in the detection state). If the LS is not on, the process proceeds to step S110 and the transition to the emergency mode is prohibited.

Therefore, when the transition to the emergency mode is permitted in step S109, the judgment processing of each sensor F-LS, S-LS, J-LS (that is, step S64 , S70, S75, and S77), and proceeding with the control processing of the loading process (for example, sequentially executing steps S64 to S80), it is possible to advance the loading process to the end. .

For example, when the landing sensor F-LS is normal (ON) and the forward limit sensor S-LS is malfunctioning (OFF), the transition to the emergency mode is prohibited in step S110. In this case, the loading process is executed according to the control procedure shown in FIG. Therefore, for example, if it is determined in step S74 that the predetermined failure determination time T2 has elapsed while the forward limit sensor S-LS is turned off in step S70, the process proceeds to steps S72 to S80. can proceed to

Thus, during execution of specific processes (dump lowering process/loading process) by turning on specific operation switches SW2 and SW4, sensors other than specific sensors (storage sensor J-LS and landing sensor F-LS) (For example, if the forward limit sensor S-LS) fails, each cylinder Cc, Cs, Cj can be safely controlled until the end of the process only from the detection results of the remaining normal sensors J-LS, F-LS. Therefore, even if the emergency mode switch E-SW is turned on, the transition to the emergency mode is prohibited. As a result, it is possible to effectively prevent a situation in which an unfavorable operational situation occurs due to an operator's operational error due to unnecessary emergency mode switching. That is, the transition to the emergency mode, which ignores the detection results of all the sensors J-LS, F-LS, and S-LS, is limited to the minimum necessary occasions, thus improving safety.

Further, in this embodiment, when the emergency mode switch E-SW is turned on, each cylinder Cc based on the ON operation to the specific operation switch (that is, the dump lowering operation switch SW2 and the loading operation switch SW4) , Cs, and Cj are permitted, the work processes permitted to shift to the emergency mode are only the dump lowering process and the loading process. As a result, in an error state due to a failure of a specific sensor (storage sensor J-LS in the dump lowering process, landing sensor F-LS in the loading process) in both processes, by switching to emergency mode, can be returned to a safe running posture, and the vehicle can run for the time being.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various design changes are possible without departing from the scope of the invention.

For example, in the above-described embodiment, the construction machine K was exemplified as the object to be carried by the transport vehicle T, but the object to be carried in the present invention is not limited to the construction machine K. Includes various self-driving vehicles (e.g., passenger cars, work vehicles, etc.) that can be boarded and alighted, and vehicles and various articles that cannot be self-driving (e.g., various machinery, containers, assembly houses, etc.).

In the above embodiment, the extension and contraction operation of the slide cylinder Cs alone moves the loading platform 3 to the most retracted tilt position 3R where the construction machine K (object to be transported) on the ground can get on the loading platform 3, and the flattened state on the vehicle body F. The present invention is applied to a so-called single-action transport vehicle that can be driven between a swinging frame 2 and a most forward mounting position 3F where a loading platform 3 is mounted substantially horizontally. A so-called double-action transport vehicle in which the cylinder Cc and the slide cylinder Cs cooperate to drive the loading platform 3 between the most retracted tilting position 3R and the most forward mounting position 3F (see, for example, Japanese Utility Model Laid-Open No. 6-18069). ) may be applied.

Further, in the above-described embodiment, a single-acting hydraulic cylinder having a single output oil chamber (extension oil chamber 100) is used as the hoisting cylinder Cc. A double-acting hydraulic cylinder with two output oil chambers may be used. For example, the "dump contraction" operation executed in steps S46 and S66 of this embodiment communicates the extension oil chamber 100 of the hoisting cylinder Cc to the oil tank TA side (that is, the extension oil chamber 100 communicates the oil from the extension oil chamber 100). However, if the hoisting cylinder Cc is of a double-acting type, it is carried out by supplying oil discharged from a hydraulic pump to the contraction oil chamber.

Further, in the above-described embodiment, in the dump lowering process, the dump lowering is started after the predetermined preliminary advance time T1 has passed after the forward limit sensor S-LS is turned on (that is, the forward movement of the loading platform 3 is completed). Although a control example (steps S18 to S21) has been shown, instead of this control example, dump lowering is started even in the middle of the preliminary advance time T1, and the loading platform 3 falls on the vehicle body F. Another control example is also possible in which the preliminary advance time T1 elapses (that is, the forward movement of the loading platform 3 is completed) before the dump lowering is stopped (step S24). Alternatively, instead of these control examples, the forward movement of the loading platform 3 may be started after the dump is lowered, and the loading platform 3 may lie down on the vehicle body F after the preliminary advance time T1 has elapsed. A sensor for detecting the angle of the bed 3 or swing frame 2 at which forward movement is to be started is separately provided, and the preliminary advance time T1 has sufficiently elapsed within the descending time from that angle to the lying state (that is, the bed 3 forward movement complete).

In the above-described embodiment, the rear part of the loading platform 3 is supported by being engaged with the guide frame 4 pivotally supported so as to be able to swing up and down with respect to the swing frame 2, but the guide frame 4 is omitted. You may In this case, a roller may be pivotally supported on the swing frame 2 or the vehicle body F, and the rear portion of the loading platform 3 may be supported on the roller so as to be vertically swingable and forward and backward movable.

Also, in the above-described embodiment, the jack J is provided on the guide frame 4, but the location where the jack J is provided is not limited to the guide frame 4, and the jack J may be provided on the vehicle body F, for example.

Further, the jack J of the above-described embodiment has been exemplified as a jack J that can change its posture by extending and contracting up and down between an extended state capable of contacting the ground and a retracted state retracted upward from the extended state. The structure of (1) is not limited to the embodiment, and it is sufficient that the posture can be changed between at least the extended state in which the vehicle can reach the ground and the stored state in which it is retracted upward from the extended state. For example, it is possible to implement a configuration in which the posture can be changed between an extended state and a retracted state by pivotally supporting a vertically extending arm so as to be able to swing back and forth or left and right.

Furthermore, in the above-described embodiment, the jack J has been shown to be changeable in posture between the extended state and the retracted state, but the jack may be fixed to the guide frame 4 (thus, the posture cannot be changed).

Further, in the above-described embodiment, the attitude of the jack J is changed by the actuator (jack cylinder Cj), but it is also possible to manually change the attitude of the jack.

In the above-described embodiment, the shift to the emergency mode is performed by a specific sensor preset for each of the operation switches SW2 and SW4 of the specific process (in this embodiment, when the dump lowering operation switch SW2 is turned on, the storage sensor J- LS, and when the loading operation switch SW4 is turned on, a specific determination is made based on the detection mode of the landing sensor F-LS (in this embodiment, each sensor J-LS, F-LS is off, ie, a failure state). I have exemplified what is allowed only in error conditions. However, in addition to the conditions of the embodiment, other transition conditions can also be set as conditions for transition to the emergency mode. For example, in the dumping up process and the dumping down process, a specific sensor preset for each of the dumping up operation switch SW1 and the dumping down operation switch SW3 (when the dumping up operation switch SW1 is turned on, the storage sensor J-LS or the forward In a specific error state determined based on the detection mode of the limit sensor S-LS and the landing sensor F-LS when the lowering switch SW3 is turned on (in this embodiment, the sensor is off, that is, in a failure state). can be set to allow only the transition to emergency mode. Then, it is possible to set so that all processes can be executed in the shifted emergency mode.

In addition, as a variation corresponding to the emergency mode when the emergency mode switch E-SW is turned on, for example, the sensors J-LS, F-LS, and S-LS each have a self-diagnostic function, and the emergency mode , may be set to allow even in an error condition where all sensors J-LS, F-LS, S-LS are known to have failed.

C: Hydraulic control device Cc: Elevating cylinder Cs: Slide cylinder F: Vehicle body K: Construction machine (conveyed object)
SW1: Dump raising operation switch (operation switch)
SW2: Switch for dump lowering operation (switch for operation)
SW3: switch for unloading operation (switch for operation)
SW4: switch for loading operation (switch for operation)
2 Swing frame 3 Cargo platform 3R Most retracted tilting position 3F Most forward mounting position

Claims (1)

The rear end of a swing frame (2) extending in the longitudinal direction is pivotally supported on the rear portion of the vehicle body (F) so as to be able to swing up and down. A hoisting cylinder (Cc) is interposed between the swaying frame (2) and the vehicle body (F) so as to be movably engaged and sway the swaying frame (2) together with the bed (3). A slide cylinder (Cs) is interposed between the swing frame (2) and the bed (3) to move the bed (3) back and forth with respect to the swing frame (2). By operating both of the cylinders (Cs) or by operating the slide cylinder (Cs) alone, the cargo bed (3) can be moved to a predetermined position where the object (K) on the ground can get on the cargo bed (3). Transportation that can be driven between the most retracted tilting position (3R) and the most forward mounting position (3F) where the bed (3) is mounted substantially horizontally on the swinging frame (2) in the laid down state. in the vehicle,
A dump raising step of swinging the loading platform (3) in the upright direction together with the swing frame (2), a dump lowering step of rocking the loading platform (3) in the lying down direction together with the swing frame (2), a loading platform (3) ) from the most forward mounting position (3F) to the most retracted tilting position (3R), or driving the loading platform (3) from the most retracted tilting position (3R) to the most forward mounting position (3F). a plurality of operation switches (SW1 to SW4) for selectively executing the loading process;
a hydraulic control device (C) that controls operation of at least one of the hoisting cylinder (Cc) and the slide cylinder (Cs) based on the ON operation of each of the operation switches (SW1 to SW4),
The hydraulic control device (C) controls at least the hoisting cylinder ( Cc) and said slide cylinder (Cs) are completely stopped.

Images