JPH072397U - Crawler-type work vehicle travel control device - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain a travel restricting device for a crawler-type work vehicle that enables stable travel even in a place having unevenness and also enables stable travel in a sloping ground. [Structure] The sprocket movement detecting means 28 detects that the sprocket 23 around which the crawler belt 21 is wound has moved inward of the vehicle body by a predetermined amount or more against the urging force of the sprocket urging means 27. At this time, or when the inclination angle detecting means detects the inclination of the vehicle body which is equal to or more than the predetermined inclination angle, the drive stopping means stops the traveling by the crawler device 20. This allows
Since the inclination of the vehicle body due to riding on the protrusion and the inclination of the vehicle body due to traveling on a sloping ground can be regulated respectively, traveling stability according to the situation of the ground on which the vehicle travels can be ensured.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a crawler-type work vehicle that can travel using traveling crawlers, and more particularly, to a travel restricting device that restricts the travel of the work vehicle under predetermined conditions.

[0002]

[Prior art]

 As a crawler type work vehicle, there is a crawler type aerial work vehicle as shown in FIGS. 5 and 6, and this crawler type aerial work vehicle has crawlers 21 on the left and right of the vehicle body 1. The drive sprocket 23 is driven by a motor (not shown) or the like to enable traveling. A work table 5 is mounted on the vehicle body 1 via a scissor link 3, and the elevating cylinder 4 operates the scissor link 3 to move the work table 5 up and down. The workbench 5 is provided with a handrail 6 for safety and an operating device 7. Then, the operator who rides on the workbench 6 operates the operating device 7 to perform lifting control of the workbench 5 and traveling control by driving the crawler 21.

When such a crawler type aerial work vehicle is run, it is dangerous for the work vehicle to run while being tilted due to the inclination of the ground R or the like. It was supposed to regulate the car from leaning. Here, such a vehicle body inclination angle that does not impair traveling stability is set as a predetermined inclination angle even when the work platform 5 is raised and the work vehicle inclines, and the conventional regulation is The driving of the crawler 21 is stopped when the inclination angle θ of the vehicle body exceeds a predetermined inclination angle during traveling.

Here, when traveling on the ground R that is inclined as shown in FIG. 5, since the inclination angle θ of the vehicle body is the same as the inclination angle α of the ground R, the inclination angle α of the ground is equal to or larger than the predetermined inclination angle. Therefore, the regulation is performed when the vehicle body inclination angle θ becomes equal to or larger than the predetermined inclination angle. However, as shown in FIG. 6, when there is a projection P on a flat ground R and the vehicle runs over the projection P, the inclination angle θ of the vehicle body 1 rapidly changes as the vehicle travels. As a result, even if the vehicle body inclination angle θ when overcoming is within a predetermined inclination angle, the traveling safety may be impaired due to the swaying due to inertia during traveling.

[0005]

[Problems to be solved by the device]

 Therefore, the vehicle body inclination angle θ for restricting traveling is set not based on the inclination angle α of the ground, but set to a small inclination angle in consideration of the sway when overcoming, and traveling when the vehicle overruns the projection P. I was trying to maintain stability. For this reason, when the work vehicle travels on a sloping ground, there is a margin in the vehicle body inclination angle that can maintain the traveling stability, but the travelable inclination angle must be set small. There was a problem.

The present invention has been made in view of the above problems, and allows a crawler-type work vehicle that enables stable running even in a place having unevenness and also allows stable running on a sloping ground. It is an object of the present invention to provide a travel restricting device.

[0007]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, in a crawler-type work vehicle travel restricting device of the present invention, at least one of a front and a rear of a vehicle body is crawled around a sprocket provided movably in a front and rear direction of the vehicle body. A belt and drive means for driving the vehicle body by driving at least one of the sprockets are provided, and the sprocket is biased outward by the sprocket biasing means in the front-rear direction of the vehicle body. When the inclination angle detecting means detects the inclination of the vehicle body, or when the sprocket movement detecting means detects the movement of the sprocket, the drive stopping means stops the driving of the drive means.

[0008]

[Action]

 In such a travel control device for a crawler type work vehicle, the travel of the vehicle can be stopped when the sprocket moves due to the bending of the crawler belt. Therefore, the traveling stability of the work vehicle can be ensured even when traveling on a sloping ground or an uneven road surface.

[0009]

【Example】

 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 4 shows an example of a crawler type aerial work vehicle having a travel restricting device according to the present invention. This aerial work vehicle is provided with crawler type traveling devices 20 on the left and right of the vehicle body 1, and is configured to be freely movable by the traveling device 20. Further, the vehicle body 1 is provided with an inclination angle sensor (inclination angle detecting means) 11 for detecting the longitudinal inclination angle of the vehicle body 1.

A scissor link 3 is mounted on the vehicle body 1, and a workbench 5 is mounted on the upper end of the scissor link 3. The scissor link 3 is configured to be vertically expanded and contracted by the elevating cylinder 4, and according to the expansion and contraction of the elevating cylinder 4, the workbench 5 is moved to the upper moving position shown by the solid line and the lower moving position shown by the chain double-dashed line in the figure. It is moved up and down between and. This workbench 5 is for a worker to board and perform work in high places. Therefore, a safety handrail 6 is provided, and in front of the handrail 6, the vehicle traveling control operation and the workbench of the workbench are performed. An operating device 7 is provided for performing a lifting control operation. Therefore, the traveling control of the aerial work vehicle is performed by an operator who is on the workbench 5 by operating the operation device 7.

Next, the travel restricting device for a crawler type work vehicle according to the present invention will be described with reference to FIGS. 1 to 3. First, the crawler type traveling devices 20 provided on the left and right of the vehicle body 1 will be described. The crawler type traveling device 20 includes a drive sprocket 23, rolling wheels 22, and crawler belts 21 wound around idler wheels 24, 24. Then, the drive sprocket 23 is driven by a traveling motor (driving means) 8, whereby the vehicle body 1 can travel.

The drive sprocket 23 is provided in front of the vehicle body 1 and is rotatably supported by the drive sprocket holding member 26. The drive sprocket holding member 26 is slidably supported in the front-rear direction of the vehicle body 1 by a support member 25 provided on the vehicle body 1. Then, between the flange portion 26 a provided near the middle of the drive sprocket holding member 26 and the support member 25, the vehicle body is urged by a spring (sprocket urging means) 27 provided on the outer periphery of the drive sprocket holding member 26. 1 is urged toward the front.

A limit switch (sprocket movement detecting means) 28 is provided on an extension line of the drive sprocket holding member 26 in the vehicle body 1 in the sliding direction. When the drive sprocket holding member 26 slides rearward of the vehicle body 1 against the urging force of the spring 27, the end face 26b of the drive sprocket holding member 26 has an end face 26b. It is located at the position where it comes into contact with. Therefore, when the end surface 26b and the actuator 28a come into contact with each other due to the crawler belt 21 bending, the limit switch 28 is turned on and the sprocket movement detection signal is transmitted to the controller 30.

The controller 30 usually controls the rotation of the traveling motor 8 based on an operation signal from the operating device 7, thereby controlling the rotation of the crawler belt 21 and the traveling control of the vehicle body 1. The controller 30 is provided with drive stopping means for stopping the drive of the traveling motor 8 regardless of the operation signal from the operating device 7. This drive stopping means detects, by the tilt angle sensor 11, that the vehicle 1 is tilted at a predetermined tilt angle or more, or when a sprocket movement signal is transmitted from the left and right limit switches 28, 28. And the drive of the traveling motor 8 is stopped.

In the aerial work vehicle configured as described above, travel regulation when traveling on the ground having slopes and protrusions will be described. First, with reference to FIG. 1, a description will be given of travel regulation on an inclined land where there is no protrusion on the ground. As described above, the vehicle body 1 is provided with the inclination angle sensor 11 for detecting the inclination of the vehicle body, and the inclination angle of the vehicle body 1 may impair the running stability when the workbench 5 rises ( In the following, when the angle θ1 (which will be referred to as a predetermined inclination angle) is reached, that is, when the ground R travels on a slope having a predetermined inclination angle α, the drive stopping means is irrespective of the operation signal from the operation device 7. Therefore, the travel is regulated in order to ensure the traveling stability by stopping the traveling. In addition, in the aerial work vehicle according to the present embodiment, the predetermined inclination angle θ1 is 3 °.

Further, as shown in FIG. 2, when there is a projection P on a flat ground R and the vehicle rides over the projection P, the inclination angle θ2 of the vehicle body 1 rapidly increases as the vehicle travels. When the vehicle gets over the projection P, the front part of the vehicle body is lowered and this inclination angle θ2 reverses to a negative value. In this way, when the vehicle travels over the projection P, the inclination angle θ2 of the vehicle body 1 rapidly changes as the vehicle travels. Therefore, even if the inclination angle θ2 of the vehicle body 1 is 3 ° or less, the traveling stability is improved by the inertia during traveling. May be damaged.

Here, the crawler belt 21 is wound around the drive sprocket 23, the rolling wheels 22, and the idle wheels 24, 24. Further, the rolling wheels 22 are movable rearward of the vehicle body 1. Therefore, when the vehicle overruns the protrusion P, a force that moves the drive sprocket 23 rearward against the biasing force of the spring 27 acts on the crawler belt 21 due to the weight of the aerial work vehicle, causing the crawler belt 21 to move. This will cause deflection. When the limit switch 28 attached to the crawler type traveling device 20 provided on the left and right of the vehicle body 1 detects the movement of the drive sprocket 23 due to the deflection of the crawler belt 21, the operation from the operating device 7 is performed. Regardless of the signal, the drive is stopped by the drive stopping means to restrict traveling so as to ensure traveling stability.

Here, the amount of movement of the rolling wheels 22 in which the limit switch 28 is turned on corresponds to the inclination angle θ2 of the vehicle body 1 that occurs when the vehicle passes over the protrusion P 1. Therefore, by setting the amount of movement of the drive sprocket 23 at the inclination angle θ2 such that the traveling stability is not deteriorated even by the inertia during traveling, the vehicle body 1 can travel even if the inclination is less than the predetermined angle θ1. Regulations can be made. It should be noted that, here, θ2, which can maintain the traveling stability even by the inertia during traveling when overcoming the protrusion, is 2 ° in the aerial work vehicle according to the present embodiment.

As a result, the aerial work vehicle according to the present embodiment can travel up to a slope of 3 ° without impairing traveling stability, but when riding on a protrusion while traveling on a flat ground, When the inclination angle of the car body reaches 2 °, the travel restriction is applied. In other words, it is not necessary to uniformly regulate the predetermined inclination angle, but it is possible to individually judge the inclination of the vehicle body when traveling on a slope and when overcoming a projection, and it is possible to regulate traveling according to each. it can. Further, since the crawler belt 21 is bent when riding over the projection P, the inclination of the vehicle body 1 when riding over the projection P is reduced and the running performance can be improved.

[0020]

[Effect of device]

 As described above, in the travel restricting device for the crawler type work vehicle of the present invention, the sprocket around which the crawler belt is wound resists the urging force of the sprocket urging means by a predetermined moving amount inward of the vehicle body. When the sprocket movement detection means detects the above movement, or when the inclination angle detection means detects an inclination of the vehicle body which is greater than or equal to a predetermined inclination angle, the drive stopping means stops the traveling by the crawler device. To do. As a result, it is possible to restrict the inclination of the vehicle body caused by riding on the protrusion and the inclination of the vehicle body caused by traveling on a sloping ground respectively, so that it is possible to ensure traveling stability according to the situation of the traveling ground surface.

[Brief description of drawings]

FIG. 1 is a side view of a crawler type traveling device in a traveling regulation device according to the present invention.

FIG. 2 is a side view of the crawler type traveling device in the traveling regulation device according to the present invention.

FIG. 3 is a block diagram showing a configuration of a travel restricting device according to the present invention.

FIG. 4 is a perspective view of a crawler type aerial work vehicle equipped with this travel restricting device.

FIG. 5 is a side view showing a traveling state of the crawler type aerial work vehicle.

FIG. 6 is a side view showing a traveling state of the crawler type aerial work vehicle.

[Explanation of symbols]

 1 Car Body 8 Motor 11 Inclination Angle Sensor 20 Crawler Type Traveling Device 21 Crawler Belt 22 Rolling Wheel 23 Drive Sprocket 24 Idler Wheel 26 Drive Sprocket Holding Member 27 Spring 28 Limit Switch

Claims (1)

[Scope of utility model registration request] 1. A vehicle body, a sprocket at least one of which is provided in front of and behind the vehicle body so as to be movable in the longitudinal direction of the vehicle body, a crawler belt wound around the sprocket, and at least one of the sprockets is driven. Drive means for running the vehicle body, a sprocket biasing means for biasing the movable sprocket outward in the front-rear direction of the vehicle body, and the sprocket against the biasing force of the sprocket biasing means. Sprocket movement detecting means for detecting that the vehicle body has moved inward, inclination angle detecting means for detecting an inclination angle of the vehicle body, and driving of the driving means is stopped by a detection signal from the sprocket movement detecting means. A travel restricting device for a crawler-type work vehicle, comprising: a drive stopping means.