JP7172092B2 - work vehicle - Google Patents

Description

The present invention relates to work vehicles. More specifically, the present invention relates to a work vehicle capable of preventing mistakes and confusion in setting items even when a plurality of operators operate respective remote control terminals.

Conventionally, a crane, which is a representative working vehicle, is known. A crane is mainly composed of a traveling body and a revolving body. The traveling body includes a plurality of wheels and is configured to travel freely. The revolving body is equipped with working devices such as a boom and a hook, and is configured to freely carry a load.

By the way, there is a crane in which a working device can be freely operated by a remote control terminal (see Patent Document 1). Also, a crane has been proposed in which setting items of a working device can be changed using a remote control terminal. In such a crane, when a plurality of operators each operate a remote control terminal, there is a risk that the setting item of the working device may be incorrectly changed. In other words, there is a possibility that mistakes or confusion may occur in setting items. It is conceivable that this is the same for other work vehicles equipped with a plurality of remote control terminals. Therefore, there is a demand for a work vehicle that can prevent mistakes and confusion in setting items even when a plurality of operators operate respective remote control terminals.

JP 2017-65911 A

To provide a work vehicle capable of preventing mistakes and confusion in setting items even when a plurality of operators operate respective remote control terminals.

The first invention is
Equipped with working equipment,
In a working vehicle in which the working device is operable by a remote control terminal,
The setting item of the working device can be changed using the remote control terminal,
Only one remote control terminal among the plurality of remote control terminals is allowed to change the setting items ,
Each of the remote control terminals is provided with a switching tool,
Only one of the remote control terminals selected by the switching tool is permitted to change the setting items .

A second invention is the crane according to the first invention,
Only one previously specified remote control terminal is permitted to change the setting items.

A third invention is the crane according to the first or second invention ,
Each of the remote control terminals is provided with a lighting unit,
Only the remote control terminal that is permitted to change the setting item lights up the lamp part.

A fourth invention is the crane according to the first or second invention ,
An image display device is provided in each of the remote control terminals,
Only the remote control terminal that is permitted to change the setting items displays that fact on the image display device.

The fifth invention is the crane according to the first or second invention,
An image display device is provided in each of the remote control terminals,
A screen for changing the setting item is displayed on the image display device of the remote control terminal which is permitted to change the setting item,
The setting item change screen is not displayed on the image display device of the remote control terminal which is not permitted to change the setting item.

The work vehicle according to the first invention can change the setting items of the work device using the remote control terminal. Only one remote control terminal among the plurality of remote control terminals is allowed to change the setting item. Further, each remote control terminal is provided with a switching device. Only one remote control terminal selected by the switching tool is allowed to change the setting item. According to such a work vehicle, only a person who has a predetermined remote control terminal can change the setting items of the work device. Therefore, even when a plurality of operators operate respective remote control terminals, it is possible to prevent mistakes and confusion in setting items. In addition, one remote control terminal can be arbitrarily selected, and only a person who has such a remote control terminal can change the setting items of the working device.

In the work vehicle according to the second invention, only one remote control terminal specified in advance is allowed to change the setting items. According to such a work vehicle, although it has a simple configuration, only a person who has a predetermined remote control terminal can reliably change the setting items of the work device.

A work vehicle according to a third aspect of the present invention is provided with a lighting unit for each remote control terminal. Then, only the remote control terminals that are permitted to change the setting items light up the lighting units. According to such a work vehicle, it can be recognized at a glance that it is a remote control terminal whose setting items are permitted to be changed.

In the work vehicle according to the fourth invention, each remote control terminal is provided with an image display. Then, only the remote control terminals that are permitted to change the setting item display that effect on the image display device. According to such a work vehicle, it can be recognized at a glance that it is a remote control terminal whose setting items are permitted to be changed.

In the work vehicle according to the fifth invention, each remote control terminal is provided with an image display. Then, the remote control terminal for which the change of the setting items is permitted displays the setting item change screen on the image display, and the remote control terminal for which the change of the setting items is not permitted displays the setting items on the image display. Change screen is not displayed. According to such a work vehicle, it is possible to perform an operation to change the setting item at the remote control terminal that is permitted to change the setting item. On the other hand, remote control terminals that are not allowed to change the setting items cannot even perform an operation to change the setting items. Therefore, it is possible to eliminate the waste of performing an operation to change the setting item for a remote control terminal that is not permitted to change the setting item.

A diagram showing a crane. The figure which shows the structure of an operation system. The figure which shows the condition which operates the remote control terminal. The figure which shows the screen which changes the setting item of a working apparatus. The figure which shows the screen which changes a crane setting. The figure which shows the screen which changes an outrigger setting. The figure which shows the screen which changes a counterweight setting. 1 is a diagram showing a remote control terminal according to one embodiment; FIG. The figure which shows the remote control terminal which concerns on other embodiment. FIG. 4 is a diagram showing a display mode for each remote control terminal; FIG. 7 is a diagram showing processing when changing setting items of a working device; FIG. 7 is a diagram showing processing when changing setting items of a working device;

In the present application, a crane, which is a typical working vehicle, will be described. The technical ideas disclosed in the present application can be applied to other cranes in addition to the crane 1 described below.

First, the crane 1 will be described with reference to FIG.

A crane 1 is mainly composed of a traveling body 2 and a revolving body 3 .

The traveling body 2 has a pair of left and right front wheels 4 and rear wheels 5 . In addition, the traveling body 2 is provided with an outrigger 6 that is grounded and stabilized when carrying the load L. As shown in FIG. It should be noted that the traveling body 2 has a revolving body 3 that is supported on the upper part thereof by means of an actuator.

The revolving body 3 has a boom 7 projecting forward from its rear portion. Therefore, the boom 7 is rotatable by the actuator (see arrow A). Also, the boom 7 is telescopic by an actuator (see arrow B). Furthermore, the boom 7 can be raised and lowered by an actuator (see arrow C). In addition, a wire rope 8 is laid across the boom 7 . A winch 9 around which a wire rope 8 is wound is arranged on the base end side of the boom 7 , and a hook 10 is suspended by the wire rope 8 on the tip end side of the boom 7 . The winch 9 is configured integrally with an actuator, and enables winding in and unwinding of the wire rope 8 . Therefore, the hook 10 can be raised and lowered by the actuator (see arrow D). The revolving body 3 has a counterweight 11 behind the boom 7 . The swing body 3 also has a cabin 12 on the side of the boom 7 . Inside the cabin 12, a turning operation tool 21, an expansion/contraction operation tool 22, a raising/lowering operation tool 23, and a winding operation tool 24, which will be described later, are provided.

Next, the operating system will be described with reference to FIGS. 2 and 3. FIG. However, this operating system is an example of a conceivable configuration, and is not limited to this. Here, an operator who operates while riding on the crane 1 is referred to as "operator X1", and an operator who operates without riding on the crane 1 is referred to as "operator X2".

The operating system is mainly composed of the control device 20 . Various operating tools 21 to 24 are connected to the control device 20 . Various valves 31 to 34 are connected to the control device 20 .

As described above, the boom 7 is rotatable by an actuator (see arrow A in FIG. 1). In the present application, such an actuator is defined as a turning hydraulic motor 41 . The turning hydraulic motor 41 is appropriately operated by the turning valve 31, which is an electromagnetic proportional switching valve. That is, the swing hydraulic motor 41 is appropriately operated by switching the flow direction of the hydraulic oil or adjusting the flow rate of the hydraulic oil by the swing valve 31 . The turning valve 31 is operated based on the operation of the turning operation tool 21 by the operator X1. Also, the turning angle and turning speed of the boom 7 are detected by a sensor (not shown). Therefore, the control device 20 can recognize the turning angle and turning speed of the boom 7 .

Further, as described above, the boom 7 can be telescopically operated by an actuator (see arrow B in FIG. 1). In the present application, such an actuator is defined as the telescopic hydraulic cylinder 42 . The telescopic hydraulic cylinder 42 is appropriately operated by the telescopic valve 32, which is an electromagnetic proportional switching valve. In other words, the telescopic hydraulic cylinder 42 is appropriately operated by switching the flow direction of the hydraulic fluid or adjusting the flow rate of the hydraulic fluid by the telescopic valve 32 . The expansion/contraction valve 32 is operated based on the operation of the expansion/contraction operation tool 22 by the operator X1. Further, the extension/retraction length and extension/retraction speed of the boom 7 are detected by sensors (not shown). Therefore, the control device 20 can recognize the extension/retraction length and the extension/retraction speed of the boom 7 .

Furthermore, as described above, the boom 7 can be raised and lowered by an actuator (see arrow C in FIG. 1). In the present application, such an actuator is defined as a hydraulic cylinder 43 for raising and lowering. The hoisting hydraulic cylinder 43 is appropriately operated by the hoisting valve 33, which is an electromagnetic proportional switching valve. That is, the hoisting hydraulic cylinder 43 is appropriately operated by switching the flow direction of the working oil or adjusting the flow rate of the working oil by the hoisting valve 33 . The hoisting valve 33 is operated based on the operation of the hoisting operation tool 23 by the operator X1. The hoisting angle and the hoisting speed of the boom 7 are detected by a sensor (not shown). Therefore, the control device 20 can recognize the hoisting angle and the hoisting speed of the boom 7 .

In addition, as described above, the hook 10 can be moved up and down by an actuator (see arrow D in FIG. 1). In the present application, such an actuator is defined as the winding hydraulic motor 44 . The winding hydraulic motor 44 is appropriately operated by the winding valve 34, which is an electromagnetic proportional switching valve. That is, the winding hydraulic motor 44 is appropriately operated by the winding valve 34 switching the flow direction of the working oil or adjusting the flow rate of the working oil. The winding valve 34 is operated based on the operation of the winding operation tool 24 by the operator X1. Further, the suspension length of the hook 10 and the ascending/descending speed are detected by a sensor (not shown). Therefore, the control device 20 can recognize the hanging length and the lifting speed of the hook 10 .

In addition, an information repeater 35 is connected to the control device 20 . However, the information repeater 35 becomes unnecessary when the remote control terminal 13 is of a wired type.

The information repeater 35 transmits and receives information converted into radio signals. The information repeater 35 has at least an antenna attached to the tip portion of the boom 7 in order to reduce the influence of features and the like on radio waves. In addition to the control device 20, the information relay device 35 is connected to a control device 60 of the remote control terminal 13, which will be described later. Therefore, the information repeater 35 can transmit information from the control device 20 to the control device 60 . The information repeater 35 can also transmit information from the control device 60 to the control device 20 .

In addition, it is assumed that the operating system has a plurality of remote control terminals 13 . The remote control terminal 13 has a control device 60 . The remote control terminal 13 also has a transmitter and a receiver (not shown). Note that the remote control terminal 13 in the present application is an example of a remote control terminal, and is not limited to this.

A turning operation tool 61 is provided in the remote control terminal 13 . The turning operation tool 61 is connected to the control device 60 . The control device 60 is connected to the above-described control device 20 via radio signals. Therefore, when the operator X2 tilts the turning operation tool 61 in an arbitrary direction (see arrow E in FIG. 3), the boom 7 is turned in the same manner as when the turning operation tool 21 is tilted in an arbitrary direction. . That is, when the operator X2 tilts the turning operation tool 61 in an arbitrary direction, the turning hydraulic motor 41 is appropriately operated, and the boom 7 turns left or right.

Further, the remote control terminal 13 is provided with a telescopic operation tool 62 . The telescopic operation tool 62 is connected to the control device 60 . The control device 60 is connected to the above-described control device 20 via radio signals. Therefore, when the operator X2 tilts the telescopic operation tool 62 in an arbitrary direction (see arrow F in FIG. 3), the telescopic operation of the boom 7 is performed in the same manner as when the telescopic operation tool 22 is tilted in an arbitrary direction. . In other words, when the operator X2 tilts the telescopic operation tool 62 in an arbitrary direction, the telescopic hydraulic cylinder 42 is appropriately operated, and the boom 7 is extended or contracted.

Further, the remote control terminal 13 is provided with a lifting operation tool 63 . The raising and lowering operation tool 63 is connected to the control device 60 . The control device 60 is connected to the above-described control device 20 via radio signals. Therefore, when the operator X2 tilts the hoisting operation tool 63 in an arbitrary direction (see arrow G in FIG. 3), the boom 7 is raised and lowered in the same manner as when the hoisting operation tool 23 is tilted in an arbitrary direction. . That is, when the operator X2 tilts the hoisting operation tool 63 in an arbitrary direction, the hoisting hydraulic cylinder 43 is actuated appropriately, and the boom 7 is raised or lowered.

In addition, the remote control terminal 13 is provided with a winding operation tool 64 . The winding operation tool 64 is connected to the control device 60 . The control device 60 is connected to the above-described control device 20 via radio signals. Therefore, when the operator X2 tilts the winding operation tool 64 in an arbitrary direction (see arrow H in FIG. 3), the hook 10 moves up and down in the same manner as when the winding operation tool 24 is tilted in an arbitrary direction. done. In other words, when the operator X2 tilts the winding operation tool 64 in an arbitrary direction, the winding hydraulic motor 44 is appropriately operated, and the hook 10 is raised or lowered.

In addition, the remote control terminal 13 is provided with an image display device 65 . The image display device 65 is connected to the control device 60 . The control device 60 is connected to the above-described control device 20 via radio signals. Therefore, the control device 20 can provide information to the operator X2 through the image display device 65. FIG. On the other hand, since the image display device 65 is a so-called touch panel, it can be said that it is an input device for the operator X2. Therefore, the operator X2 can also provide information to the control device 20 through the image display device 65. FIG. The image display device 65 is attached to the front of the remote control terminal 13 so that the operator X2 can visually recognize it while operating the various operation tools 61-64.

According to such an operation system, a plurality of operators X2 can operate the work device 40 by operating the remote control terminal 13 respectively. This has the effect that even if the work site has many blind spots for one operator X2, the work device 40 can be operated while a plurality of operators X2 take over in sequence. The working device 40 is synonymous with the revolving structure 3 and refers to a “crane device” including the boom 7, the hook 10, and the like.

Next, screens for changing setting items of the work device 40 will be described with reference to FIGS. 4 to 7. FIG. Here, it is assumed that only one remote control terminal 13 among the plurality of remote control terminals 13 is permitted to change the setting items. In the following description, the remote control terminal 13 will be focused on.

The remote control terminal 13 can change various settings of the working device 40 . For example, crane setting, outrigger setting, counterweight setting, and the like. On the initial screen S, an image diagram Ia representing the turning angle of the boom 7 is drawn. In addition, an image diagram Ib representing the length of expansion and contraction of the boom 7, the angle of hoisting and the like is drawn. Further, an image diagram Ic showing the overhang length of each outrigger 6 is drawn. In addition, an image diagram Id in which values such as rated total load and actual load are described is drawn.

First, a brief description of the crane settings will be provided. When the operator presses the button B1 for crane setting, a predetermined screen S1 is displayed on the image display device 65 (see FIG. 5). The screen S1 includes an image diagram I1 showing the state of the boom 7. FIG. An image diagram I1 is a simplified drawing of the tip portion of the boom 7, and by pressing the feed button Bf or the return button Bb, the boom operation state and the jib operation state are sequentially changed. When the operator presses the set key button Bs, such setting items are determined.

Next, outrigger setting will be briefly described. When the operator presses the button B2 related to outrigger setting, a predetermined screen S2 is displayed on the image display device 65 (see FIG. 6). The screen S2 includes an image diagram I2 showing the state of the outriggers 6. FIG. Image diagram I2 simply depicts the extension length of each outrigger 6, and the extension length of each outrigger 6 changes gradually by pressing the forward button Bf or the return button Bb. When the operator presses the set key button Bs, such setting items are determined.

Next, the counterweight setting will be briefly described. When the operator presses the button B3 for counterweight setting, a predetermined screen S3 is displayed on the image display device 65 (see FIG. 7). The screen S3 includes an image diagram I3 showing the state of the counterweight 11. FIG. Image diagram I3 simply depicts the total weight of counterweight 11, and the total weight of counterweight 11 changes gradually by pressing forward button Bf or return button Bb. When the operator presses the set key button Bs, such setting items are determined.

As described above, the crane 1 can change the setting items of the working device 40 using the remote control terminal 13 . Only one remote control terminal 13 among the plurality of remote control terminals 13 is allowed to change the setting item. According to the crane 1, only a person (operator X2) having a predetermined remote control terminal 13 can change the setting items of the working device 40. FIG. Therefore, even when a plurality of operators X2 each operate the remote control terminal 13, it is possible to prevent mistakes and confusion in setting items.

By the way, as a method of determining one remote control terminal 13 among the plurality of remote control terminals 13, it is conceivable to specify it in advance. In other words, it eliminates the room for choice and leaves it primitively specific.

In this case, only one remote control terminal 13 specified in advance is allowed to change the setting item of the crane 1 . According to the crane 1, although it has a simple configuration, only a person (operator X2) who has a predetermined remote control terminal 13 can change the setting items of the work device 40 reliably.

In addition, as a method of determining one remote control terminal 13 among the plurality of remote control terminals 13, it is conceivable that the operator X2 can arbitrarily specify it. That is, like the remote control terminal 13 of the present application, the switch 66 is provided (see FIGS. 2 and 3) so that it can be specified by the operation of the operator X2.

In this case, in the crane 1, only one remote control terminal 13 selected by the switching tool 66 is allowed to change the setting item. According to the crane 1, one remote control terminal 13 can be arbitrarily selected, and only a person (operator X2) having such a remote control terminal 13 can change the setting items of the working device 40. FIG.

In this respect, it is preferable for the operator X2 to be able to recognize at a glance whether or not the remote control terminal 13 has been selected.

As for this, it is conceivable that the remote control terminal 13 is provided with a lighting unit 67 (see FIGS. 2 and 3) so that only one selected remote control terminal 13 is lit. For example, when there is a third remote control terminal 13 from the first remote control terminal 13 and the second remote control terminal 13 is selected, only the lighting unit 67 provided in the second remote control terminal 13 lights up (see Fig. 8). However, it is not limited to a mode in which one remote control terminal 13 is selected by the switching tool 66 .

In this case, the lamp part 67 of the crane 1 is turned on only by the remote control terminal 13 for which the change of the setting item is permitted. According to such a crane 1, it can be recognized at a glance that it is a remote control terminal 13 whose setting items are permitted to be changed.

In addition, since the remote control terminal 13 is provided with the image display device 65 (see FIGS. 2 and 3), it is conceivable to display the fact only on the selected remote control terminal 13 . For example, when there is a third remote control terminal 13 from the first remote control terminal 13 and the second remote control terminal 13 is selected, the image display device 65 provided in the second remote control terminal 13 This is displayed only on the screen (see FIG. 9: see the part marked with *). However, it is not limited to a mode in which one remote control terminal 13 is selected by the switching tool 66 . Moreover, the display modes of symbols, characters, and the like are not limited.

In this case, the crane 1 displays that effect on the image display device 65 only with the remote control terminal 13 that is permitted to change the setting items. According to such a crane 1, it can be recognized at a glance that it is a remote control terminal 13 whose setting items are permitted to be changed.

Next, with reference to FIG. 10, a display mode when an operation to open the above-described initial screen S is performed will be described. In the crane 1, the initial screen S is opened when a button (not shown) is pressed on the remote control terminal 13, which allows changing of the setting items. Here, the initial screen S is defined as a "setting item change screen S".

First, the remote control terminal 13 that permits changing of setting items will be described. When the operator presses a predetermined button on the remote control terminal 13 that allows the change of setting items, a setting item change screen S is displayed on the image display device 65 (see FIG. 10A). . The image diagram Ia, the image diagram Ib, the image diagram Ic, and the image diagram Id are displayed on the setting item change screen S. FIG.

Next, the remote control terminal 13, which is not allowed to change the setting items, will be described. In the remote control terminal 13 that does not permit the change of setting items, the setting item change screen S is not displayed on the image display device 65 even if the operator presses a predetermined button. Alternatively, a comment such as "This remote control terminal is not allowed to change the setting items" is displayed (see FIG. 10B). At this time, the number of the remote control terminal 13 permitted to change the setting may be taught.

In this manner, the setting item change screen S is displayed on the image display device 65 of the remote control terminal 13 whose setting item is permitted to be changed, and the image is displayed on the remote control terminal 13 whose setting item is not permitted to be changed. The setting item change screen S is not displayed on the display device 65 . According to the crane 1 described above, the remote control terminal 13, which is permitted to change the setting item, can perform an operation to change the setting item. On the other hand, the remote control terminal 13, which is not permitted to change the setting item, cannot even perform an operation to change the setting item. Therefore, it is possible to eliminate the waste of performing an operation to change the setting item on the remote control terminal 13 that is not permitted to change the setting item.

Next, the processing in the control device 20 will be briefly described with reference to FIG. 11 . Here, it is assumed that a change authorization request button (for example, the above-described buttons B1, B2, B3, the set key button Bs, or other buttons may be pressed).

According to such a flowchart, a command (command B) for granting authority can be transmitted to a predetermined remote control terminal 13 . In addition, it becomes possible to accept changes in the setting items from such a predetermined remote control terminal 13 . However, this flowchart is an example of a possible configuration, and is not limited to this.

Next, the processing in the control device 60 will be briefly described with reference to FIG. 12 . Here again, it is assumed that the change authority request button (for example, the buttons B1, B2, B3, the set key button Bs, or other buttons described above) is pressed.

According to such a flowchart, the image display device 65 of the remote control terminal 13 displays that the change authority has been acquired or that the change authority has not been acquired. In addition, a message to the effect that acquisition of change authority has failed for some reason is displayed. However, this flowchart is an example of a possible configuration, and is not limited to this.

Finally, the technical idea disclosed in the present application can also be applied to other work vehicles equipped with a plurality of remote control terminals 13. For example, it can also be applied to an aerial work vehicle or the like.

1 Crane (work vehicle)
2 Traveling body 3 Revolving body 7 Boom 10 Hook 13 Remote control terminal 20 Control device 40 Work device 60 Control device 61 Revolving operation tool 62 Telescopic operation tool 63 Rising operation tool 64 Winding operation tool 65 Image display device 66 Switching tool 67 Light part L Baggage S Initial screen (setting item change screen)
X1 operator X2 operator

Claims (5)

Equipped with working equipment,
In a working vehicle in which the working device is operable by a remote control terminal,
The setting item of the working device can be changed using the remote control terminal,
Only one remote control terminal among the plurality of remote control terminals is allowed to change the setting items,
Each of the remote control terminals is provided with a switching tool,
A work vehicle, wherein only one of the remote control terminals selected by the switching device is permitted to change the setting items. 2. The work vehicle according to claim 1, wherein only one previously specified remote control terminal is permitted to change the setting items. Each of the remote control terminals is provided with a lighting unit,
3. The work vehicle according to claim 1, wherein said lighting unit is turned on only by said remote control terminal that is permitted to change setting items. An image display device is provided in each of the remote control terminals,
3. The work vehicle according to claim 1, wherein only the remote control terminal that is permitted to change the setting item displays that effect on the image display device. An image display device is provided in each of the remote control terminals,
A screen for changing the setting item is displayed on the image display device of the remote control terminal which is permitted to change the setting item,
3. The work vehicle according to claim 1, wherein a setting item change screen is not displayed on the image display device of the remote control terminal that is not permitted to change the setting item.

Images