JPH07137614A - Vehicle body horizontally setting device of working vehicle with outrigger - Google Patents

Abstract

PURPOSE:To set a vehicle body horizontal at a position of the low center of gravity in a short period of time by computing an expansion amount of a jack cylinder in accordance with inclination of the vehicle body detected by a biaxial inclination detector and controlling an outrigger individual valve provided on each of the jack cylinders so that hydraulic pressure of each of the jack cylinders becomes the computed value. CONSTITUTION:Outriggers 5 to stabilize a vehicle body 1a are provided before and after a lower part travelling body 1 of a working vehicle, and a biaxial inclination detector 15 consisting of a longitudinal direction inclination detector 15a to detect inclination of the car body 1a in the longitudinal direction and a lateral direction inclination detector 15b to detect inclination in the lateral direction is provided on the vehicle body 1a. A hydraulic pressure detector 17 to detect hydraulic pressure on the bottom side of a jack cylinder 7 is provided on each of the jack cylinders 7, a signal detected by these detectors 15, 17 is inputs to control system controller 20, and an individual value 11 is controlled in accordance with the signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for horizontally installing a vehicle body of a work vehicle having an outrigger.

[0002]

2. Description of the Related Art Conventional work vehicles having an outrigger for stabilizing the vehicle body during work, such as a mobile crane,
It is necessary to keep the vehicle body horizontal even on sloping ground. For this reason, Japanese Patent Publication No. 2-30906 proposes a device for automatically installing the vehicle body horizontally even on a sloping ground.

[0003]

However, in the above-described conventional vehicle body horizontal installation device, when the vehicle body is installed horizontally, first, the lifting jacks are set to the maximum extension state, and then the vehicle body is detected based on the signal from the inclination detecting means. The body is installed horizontally by reducing the lifting jack so that it becomes horizontal, and there is a problem that work efficiency is poor because it takes time from the start of operation until the body is installed horizontally.

In addition, since the horizontal installation control is started from the state where the jack is moved to the maximum stroke and the vehicle body is lifted to the maximum, in most cases, the control is often completed with the vehicle body being lifted to the maximum. As a result, the position of the center of gravity became high, and there were problems such as lack of stability during work.

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

[0006]

In order to achieve the above object, the present invention provides a work vehicle provided with outriggers for stabilizing a vehicle body at the time of work, in front of and behind a self-propelled lower traveling body.
A biaxial tilt detector for detecting the front and rear and left and right tilts of the vehicle body, and a hydraulic pressure detector for each jack cylinder are provided, and the amount of expansion and contraction of the jack cylinder according to the tilt of the vehicle body detected by the biaxial tilt detector. Is calculated by the controller, and the outrigger individual valve provided for each jack cylinder is controlled so that the ground pressure of each jack cylinder becomes a predetermined value.

[0007]

With the above construction, when the work vehicle is stopped on a slope and the work is to be performed, the vehicle body can be horizontally installed in a short time by operating the automatic horizontal installation switch, and the vehicle body becomes horizontal at the low center of gravity position. Therefore, stability during work is also improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a work vehicle having an outrigger,
An upper revolving structure 2 is rotatably provided on a self-propelled lower traveling structure 1, and a crane boom 3 and a driver's cab 4 are installed on the upper revolving structure. Outriggers 5 for stabilizing the vehicle body 1a of the lower traveling body 1 at the time of work are provided in front of and behind the lower traveling body 1.

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

The outrigger 5 is of a type generally called an H-type outrigger, but the outrigger arm 6 can also be implemented in the same manner with an X-type outrigger having an X-shaped combination.

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

As shown in FIG. 1, the vehicle body 1a includes a front-back direction inclination detector 15a for detecting the front-rear direction inclination of the vehicle body 1a and a left-right direction inclination detector 15b for detecting a left-right inclination. An axial tilt detector 15 is provided, and as shown in FIG. 2, the outrigger 5 is provided with an outrigger overhang length detector 16 for detecting expansion / contraction of the outrigger arm 6 via a wire 16a, and each jack cylinder 7 is provided with the outrigger overhang length detector 16. Are provided with respective hydraulic pressure detectors 17 for detecting the hydraulic pressure on the bottom side of the jack cylinder 7, and the signals detected by these detectors 15, 16, 17 are sent to the control system controller 20 shown in FIGS. 4 to 6. The valves 10 and 11 that are input and are controlled based on these signals are controlled as follows.

4 to 6, reference numeral 21 is an automatic horizontal setting switch, 22 is an alarm means for issuing an alarm in response to a command from the controller, and 23 is a display device showing the operating state of the outrigger 5.

Next, the operation during horizontal installation using the control system shown in FIG. 4 will be described with reference to the flow chart shown in FIG. When the work vehicle is stopped on a slope or the like and the crane boom 3 is used for work, first, the outrigger arm 6 is extended as long as possible in order to stabilize the vehicle body. Next, when the automatic horizontal setting switch 21 is turned on in this state, the process proceeds to step 101 of the flow shown in FIG. 7, and the controller 20 checks whether or not there is an abnormality in the sensor or the like,
If there is an abnormality, an alarm is issued, and if there is no abnormality, the process proceeds to step 102, and both the horizontal flag and the pressure flag are OK.
Is checked.

If either or both of the horizontal flag and the pressure flag are not OK, the routine proceeds to step 103,
The pressure flag is checked, and if the pressure flag is not OK, the routine proceeds to step 104, where the pressure control routine shown in FIG. 8 is executed, and then proceeds to step 105, where the horizontal control routine shown in FIG. 10 is executed.

If the pressure flag is OK in step 103, the routine proceeds to step 106 where the horizontal control routine is executed, and then proceeds to step 107 where the pressure control routine is carried out, then returns to step 102 and returns to both horizontal and pressure. It is checked whether or not both the flags are OK, and if the flags are OK, the work vehicle determines that the horizontal installation of the vehicle body is completed, issues a control end display to the display device 22, and ends the operation.

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

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

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

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

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

[0022]

As described in detail above, according to the present invention, by simply turning on the automatic horizontal switch, the necessary pressure oil is supplied from the control valve to the jack cylinder of the outrigger and the vehicle body is installed in a horizontal state. The vehicle body can be fixed horizontally in a short time. As a result, the work can be started promptly, the work efficiency can be improved, and the conventional control valve and the like can be used as they are, so that the work can be carried out without major modification, which is economical.

Further, since the vehicle body is installed horizontally at the lowest possible position, the center of gravity is lowered to improve the stability during the work, and the pressure oil required to keep the vehicle body horizontal is surely transferred to the jack cylinder. Pressure oil is supplied to the jack cylinder so that it is supplied or the required axial force is generated in the jack cylinder, so after the horizontal installation of the vehicle body, the stability of the vehicle body is impaired due to insufficient hydraulic pressure or insufficient axial force, and the vehicle body falls over. There is no fear of such.

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

[Brief description of drawings]

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

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

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

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

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

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

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

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

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

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

[Explanation of symbols]

 1 Undercarriage 1a Vehicle body 5 Outrigger 6 Outrigger arm 7 Jack cylinder 11 Outrigger individual valve 15 2-axis tilt detector 16 Overhang length detector 17 Hydraulic pressure detector 20 Controller

Claims (3)

[Claims] 1. A biaxial tilt detector for detecting a front / rear and left / right inclination of the vehicle body 1a in a work vehicle provided with outriggers 5 for stabilizing the vehicle body 1a at the time of operation, in front of and behind a free-running lower traveling body 1. 15, and a hydraulic pressure detector 17 is provided in each jack cylinder 7, the controller 20 calculates the expansion / contraction amount of the jack cylinder 7 according to the inclination of the vehicle body 1a detected by the biaxial inclination detector 15, and each jack Each jack cylinder 7 so that the hydraulic pressure of the cylinder 7 becomes a calculated value.
An apparatus for horizontally installing a body of a work vehicle having an outrigger, which controls an outrigger individual valve 11 provided for each. 2. An overhang length detector 16 for detecting the overhang length of the extendable outrigger arm 6 is provided, and the operation of the outrigger individual valve 11 according to the overhang length detected by these overhang length detectors 16. The vehicle horizontal installation device according to claim 1, wherein the time is corrected. 3. A biaxial tilt detector for detecting the front and rear and left and right tilts of the vehicle body 1a in a work vehicle provided with outriggers 5 for stabilizing the vehicle body 1a at the time of work, in front of and behind the self-propelled lower traveling body 1. 15, and a hydraulic pressure detector 17 is provided in each jack cylinder 7, the controller 20 calculates the expansion / contraction amount of the jack cylinder 7 according to the inclination of the vehicle body 1a detected by the biaxial inclination detector 15, and each jack The outrigger individual valve 11 provided for each jack cylinder 7 is controlled so that each ground reaction force of the cylinder 7 is equal to or greater than a certain value and the sum of each ground pressure approximates the total weight of the vehicle body. Horizontal grounding device for work vehicle having outrigger.