JPH0728188U - Turning control device for work vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] To enable swivel regulation of a swivel in a predetermined swivel area with a simple and inexpensive structure, and to facilitate work and improve safety based on the swivel regulation of the swivel. A work vehicle comprising: a swivel mounted on a vehicle body frame so as to swivel; a hydraulic motor for rotationally driving the swivel; and a circuit 43 for controlling an operating state of the hydraulic motor. The turning area of the vehicle is divided into left and right turning areas, and limit switches LS1 to LS3 for detecting the boundary positions between adjacent turning areas are provided between the turning base and the body frame. The frame is provided with a selection switch SW for appropriately selecting a predetermined swivel area for restricting swiveling of the swivel base from the left and right swivel areas, and the circuit 43 is provided with each of the predetermined swivel area boundary positions by the select switch SW. Based on the operating states of the limit switches LS1 to LS3, the solenoid SOLc or SOLd is demagnetized to stop the hydraulic motor when the swivel base reaches a predetermined swivel area boundary position.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a turning restriction device for restricting a turning area of a swivel in a work vehicle having a swivel mounted on a vehicle body frame.

[0002]

[Prior art]

 Generally, in a work vehicle in which a boom or the like is installed on a swivel platform so that it can be raised and lowered as well as turning, the overturning moment of the vehicle may change depending on parameters such as boom length, hoisting angle, turning angle, and outrigger extension. Therefore, in the so-called moment limiter, these parameters are successively measured to prevent the vehicle from tipping over.

In the case of detecting the boom turning angle among such parameters, it is generally well known that the turning angle is detected using a potentiometer, as disclosed in JP-A-59-118690. Has been.

[0004]

[Problems to be solved by the device]

 By the way, in the work vehicle, there is a demand for smoothing the work and improving safety by controlling the turning range of the turntable within a predetermined turning range.

In that case, a predetermined swivel area that restricts swivel of the swivel base is selected from the swivel area of the swivel base, and the swivel angle of the swivel base is detected by using an angle sensor such as the potentiometer or the rotary encoder. However, the swing angle range of the swivel base is regulated based on the angle signal detected by this sensor. However, such an angle sensor is expensive and complicated.

The present invention has been made in view of the above points, and an object thereof is to enable the swivel of a swivel to be restricted in a predetermined swivel region with a simple and inexpensive structure, and to swivel the swivel. It is intended to facilitate work and improve safety based on regulations.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, a solution means devised by the invention of claim 1 is a turning restriction device for a working vehicle, which is a turning base mounted rotatably on a body frame, and rotationally drives the turning base. It is assumed that the work vehicle includes a drive source and a control device that controls the operating state of the drive source.

The turning area of the swivel base is divided into a plurality of swivel areas, and detectors are provided between the swivel base and the body frame to detect boundary positions between adjacent swivel areas. In addition, the swivel base or the vehicle body frame is provided with a selection switch for appropriately selecting a predetermined swivel region for restricting the swivel of the swivel base from the plurality of swivel regions. In addition, the control device outputs the output of the drive source while the swivel base reaches the predetermined swivel area boundary position based on the operating state of each detector at the predetermined swivel area boundary position by the selection switch. It is characterized in that it is configured to stop.

Further, a solution means devised by the invention according to claim 2 is, as a turning control device for a work vehicle, a turning base mounted on a vehicle body frame having a plurality of outriggers capable of overhanging so as to turn, and the turning base. It is assumed that the work vehicle includes a drive source that rotationally drives the platform and a control device that controls the operating state of the drive source.

Then, each of the outriggers is provided with a detector for detecting the protruding state of the outrigger. Further, the control device is configured to stop the output of the drive source based on an inoperative state of the detector when the outriggers are not in the extended state.

[0011]

[Action]

 With the above configuration, in the device according to claim 1, for example, when the sidewalk is located on one side of the work vehicle having the boom, the turning area of the turntable rotated by the drive source is set to the one side area. And other lateral areas. Then, the predetermined swivel area that restricts the swivel of the swivel base is selected by the selection switch so as to be one side area on the sidewalk, and the swivel base is turned in the other lateral area. In that case, when the swivel reaches the one-sided area boundary position, the detector at the one-sided area boundary position is activated and the output of the drive source is stopped by the control unit, and the one-sided area boundary position is detected. Restrict turning beyond the position.

[0012] Thus, the turning restriction to the one lateral area of the swivel base is performed by the detector provided at the one lateral area boundary position, and the turning restriction device is inexpensive and has a simple structure. However, since the turning restriction area is appropriately selected by the selection switch, the turning restriction area can be changed according to the workplace, and the work is smoothly performed.

Further, by restricting the turning to one side area of the swivel base, the danger that a boom or the like enters the one side area and contacts a pedestrian on the sidewalk is avoided, and safety near the work place is improved. Reserved.

According to the second aspect of the present invention, for example, when the work vehicle does not overhang each outrigger and the overhead line work is performed on the track wiring, the overhang state of each outrigger is detected by the control means. The output of the drive source is stopped based on the inactive state of the detector, and the rotation drive of the swivel base is restricted.

Accordingly, the turning restriction of the swivel base is performed by the detector provided on the outrigger, and the turning restriction device can be inexpensive and have a simple structure. In addition, since turning is restricted because the outrigger is not used, work that involves a risk of turning can be performed smoothly and with peace of mind, and wire accidents such as overhead wires due to turning can be reliably prevented.

[0016]

[Effect of device]

 As described above, according to the turning regulation device for a working vehicle in the invention as set forth in claim 1, the predetermined turning region for controlling the turning of the turning base is selected by the selection switch, and the detector for the predetermined turning region boundary position is detected. The output of the drive source is stopped by the operation of the switch to control the swing of the swivel base beyond the predetermined area boundary position, so it is possible to reduce the cost and simplification of the swing control device and to control the swing with the selection switch. The work can be facilitated by making it possible to change the area as appropriate. In addition, it is possible to ensure safety for pedestrians near the workplace by prohibiting entry into the swing control area such as the boom on the swivel base.

Further, according to the turning regulation device for a working vehicle in the invention as set forth in claim 2, the overhanging state of each outrigger is detected by the detector, and the output of the drive source is stopped by the non-operation of the detector. Since the swivel base is regulated to rotate, it is possible to reduce the cost and simplification of the swing control device, while ensuring the reliability and smoothness of work that involves danger of turning, while also ensuring disconnection accidents such as during overhead line construction. It can be prevented.

[0018]

【Example】

 Embodiments of the present invention will be described below with reference to the drawings.

3 and 4 show an aerial work vehicle equipped with a boom according to an embodiment of the present invention on a swivel base, and 1 is a vehicle body, which is a vehicle body frame 1b provided on a chassis 1a of the vehicle body 1. A swivel post 2 is erected at a rear portion of the swivel post in a horizontal plane, and a boom 3 is rotatably supported by a shaft 4 at an upper end of the swivel post 2 so that the boom 3 can be hoisted by a hydraulic cylinder. ing. The swivel post 2 includes a swivel base 5 at the base thereof, and the swivel base 5 is rotatably supported on the vehicle body frame 1b. The turning post 2 and the boom 3 are turned by a hydraulic motor 7 (see FIG. 2). Further, a detector for detecting that the boom 3 is located on the turning post 2 slightly forward to the left with respect to the vehicle body frame 1b (for example, about 20 ° left with respect to the vehicle body center line m). Limit switch LS1 as a second limit switch LS2, a second limit switch LS2 as a detector for detecting that the boom 3 is positioned on the vehicle body center line m in the vehicle body rearward direction with respect to the vehicle body frame 1b, and the boom 3 The third limit switch LS3 as a detector for detecting that the vehicle is located slightly to the right of the vehicle body frame 1b in the front direction of the vehicle body (for example, about 20 ° to the right of the vehicle body center line m), and the boom 3 Is located at the reference position with respect to the vehicle body frame 1b, slightly to the right of the front of the vehicle body, and to the left of the third limit switch LS3 (for example, about 10 ° to the right of the vehicle body center line m). To A fourth limit switch LS4 for output are provided. Then, the turning areas of the turning post 2 and the boom 3 are the right turning area within the substantially right half arc between the first limit switch L S1 and the second limit switch LS2, and the third limit switch LS3. Is divided into a left turning region within a left semicircular arc between the second limit switch LS2 and the second limit switch LS2, and the turning post 2 can be turned in the left and right directions in each turning region.

The boom 3 has a base boom 11 pivotally supported by the swivel post 2, an intermediate boom 12 slidably fitted and supported on the base boom 11, and a slidable body on the intermediate boom 12. It is configured as a multi-stage boom with the tip boom 13 that is fitted to the noh, and a workbench 14 is attached to the tip end portion of the tip boom 13 via a connecting member 15. In this case, a hydraulic cylinder (not shown) is also provided between the swivel post 2 and the tip boom 13, and the boom 3 is expanded and contracted by the expansion and contraction of this hydraulic cylinder.

Reference numeral 16 denotes an outrigger, which is attached to four positions on the front and rear sides of the vehicle body 1 so as to be able to project to the side of the vehicle body 1. An extendable jack 17 is attached to the tip of each outrigger 16 for working the work vehicle. At this time, the vehicle body 1 is supported by projecting each outrigger 16 and extending the jack 17.

A hoisting cylinder 18 hoists the boom 3 and is installed between the turning post 2 and the base end boom 11. 19 is a horizontal cylinder installed between the swing post 2 and the base end boom 11, 20 is a horizontal cylinder installed between the tip boom 13 and the connecting member 15, and these cylinders 19 and 20 The workbench 14 is held in a horizontal position regardless of the up and down state of the boom 3.

Next, the hydraulic circuit of the hydraulic motor 7 will be described with reference to FIG.

FIG. 2 shows a piping system of a hydraulic circuit. P is a hydraulic pump, T is an oil reservoir, 31 is an operation switching valve for operating a hydraulic motor, and the operation switching valve 31 is a manual type. Is. The operation switching valve 31 is appropriately switched not only when the hydraulic motor 7 is operated, but also when the hydraulic cylinder that raises and lowers the boom 3 and the hydraulic cylinder that extends and retracts the boom 3 are activated and when the jacks 17 of the outriggers 16 are extended and retracted. . Reference numeral 32 is a relief valve that circulates a part of the oil in the oil reservoir T 1 when the return discharge pressure of the hydraulic motor 7 is too high. The relief valve 32 is set to a relief set pressure of about 160 kg f / cm ² . Further, 33 is a check valve for preventing the return of pressure oil to the hydraulic pump P.

Reference numeral 34 is a turning direction switching valve for switching the turning direction of the hydraulic motor 7 to right turning (clockwise direction) or left turning (counterclockwise direction). The area is switched appropriately.

Further, 35 is a right turn control valve for controlling the right turn of the hydraulic motor 7, 36 is a left turn control valve for controlling the left turn of the hydraulic motor 7, and The regulation valve 35 has a solenoid SOLc, and the left turn regulation valve 36 has a solenoid SOLd. The right turning control valve 35 and the left turning control valve 36 are connected in parallel to the turning direction switching valve 34 (hydraulic pump P). Further, reference numeral 37 is a rotary joint capable of absorbing and discharging oil between the vehicle body frame 1b and the swivel base 5. Further, 38 is a filter for removing impurities in the oil which is circulated to the oil reservoir T.

Next, the electric circuit of the hydraulic motor 7 will be described with reference to FIG.

In FIG. 1, reference numeral 41 is a power supply line, and 42 is an earth line. The operation line of the hydraulic motor 7 is controlled by straddling the power supply line 41 and the earth line 42. A circuit 43 is provided as a control means of the.

Reference numeral 44a denotes a right-turning restriction detection circuit for the swivel base 5 (boom 3). The right-turning restriction detection circuit 44a has the boom 3 turn to the right in the left turning area, and the turning area limit. The third limit switch LS3, which switches to the turning stop state when it comes to a position, and the third limit switch LS3 are connected in parallel, and the boom 3 turns left in the right turning area and reaches the turning limit position. The first limit switch LS1 which is sometimes switched to the turning stopped state, the selection switch SW which switches the turning region of the boom 3 to the left turning region (lower position) or the right turning region (up position), and the first and third switches. The relay CR1 that is energized when the limit switches L S1 and LS3 are activated is connected. Further, the right turning regulation detection circuit 44a is connected to the contact a or contact b of the relay CR3 which is switched to be able to supply power to the third limit switch LS3 or to be able to supply power to the first limit switch LS1. Has been done.

Reference numeral 44b denotes a left-turning restriction detection circuit for the boom 3. The left-turning restriction detection circuit 44b indicates that the boom 3 is turning right in the right-turning area and reaches the turning-area limit position. The second limit switch LS2 that switches to a turning stop state, the selection switch SW, the diode D, and the relay CR2 that is energized when the second limit switch LS2 or the first limit switch LS1 is activated are connected. .

The circuit 43 is provided with a region discrimination detection circuit 44c for discriminating the left and right turning regions, which is a characteristic part of the present invention. The area discrimination detection circuit 44c is configured as a turning restriction device that restricts the turning of the boom 3 to another turning area when one of the left and right turning areas is selected, and is a selection switch. When the SW is switched to the lower left turning area, it is energized to switch the contact b of the relay CR3 to the power supply possible via the second limit switch LS2, while the selection switch SW is switched to the upper right turning area. There is provided a relay CR3 which is turned off at times and switches the b-contact of the relay CR3 so that power can be supplied to the first limit switch LS1.

Reference numeral 45 a denotes a right turn drive circuit for turning the turntable 5 (boom 3) to the right. The right turn drive circuit 45 a includes an a contact of the relay CR 1 and the right turn control valve 35. Solenoid SOLc is connected in series.

Reference numeral 45b denotes a left turn drive circuit for turning the turntable 5 to the left. In the left turn drive circuit 45b, an a contact of the relay CR2 and a solenoid SOLd of the left turn control valve 36 are connected in series. It is connected.

Here, the turning operation in each turning area of the turning base 5 will be described.

First, the case of selecting the left turning region will be described. After the jacks 17 of the respective outriggers 16 are expanded / contracted, the solenoid SOLa of the operation switching valve 31 is used to lift and lower the boom 3 as well as the hydraulic motor 7. Energize to switch to a position where it can move and expand and contract (position shown in the figure). Then, by selecting the lower left turning region by the selection switch SW, the contact a of the relay CR3 is switched to the state in which the third limit switch LS3 can be energized (the state shown in the figure), and this third limit switch The boom 3 can be turned within the left turning area between the LS3 and the second limit switch LS2. When the boom 3 reaches the left turning area boundary position, that is, the third limit switch LS3 or the second limit switch LS2, the third limit switch LS3 or the second limit switch LS2 becomes inoperable and the relay CR 1 Alternatively, the relay CR2 is made non-energizable, the a contact of the relay CR1 of the right turn drive circuit 45a or the a contact of the relay CR2 of the left turn drive circuit 45b is released, and the solenoid SOLc of the right turn control valve 35 or the left turn control valve 36 is released. The solenoid SOLd is demagnetized and the pressure oil is circulated to the oil reservoir T via the turning control valve 35 or 36, so that the hydraulic motor 7 is stopped and further right turning or left turning by the hydraulic motor 7 is stopped. .

On the other hand, when the right turning region is selected, the solenoid SOLa of the motor operation switching valve 31 is excited, and then the upper right turning region is selected by the selection switch SW, whereby the relay CR3 of the relay CR3 is selected. Since the b-contact is in a state in which the first limit switch LS1 can be energized, the boom 3 can be turned within the right turning region between the first limit switch LS1 and the second limit switch LS2. When the boom 3 reaches the right turning area boundary position, that is, the first limit switch LS1 or the second limit switch LS2, the relay CR1 or the relay CR2 is similarly deenergized, and the right turning regulation valve 35 or the left turning regulation is performed. The valve 36 is switched to the state in which the right turn is impossible or the left turn is impossible, and further right turn or left turn by the hydraulic motor 7 is stopped.

As described above, since the turning control in the left and right turning regions of the turning base 5 is performed by the limit switches LS1 to LS3 provided at the turning region boundary positions, it is possible to reduce the cost and simplify the turning control device. it can. Moreover, since the turning restriction area is appropriately selected by the selection switch SW, the turning restriction area can be changed according to the workplace, and the work can be facilitated.

Further, by restricting the turning of the swivel base 5 to another turning area, when the boom 3 enters the other turning area and the other turning area is located on the sidewalk, for example, The danger of the boom 3 coming into contact with pedestrians can be avoided, and safety near the work area can be secured.

Next, a second embodiment of the present invention will be described with reference to FIGS. 5 and 6.

In the second embodiment, the turning restriction area of the turning base is further changed. The same parts as those in the above embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

That is, in this example, in addition to the jacks 17 of the respective outriggers 16, the iron wheels 61, which can be extended and contracted, are provided at the four corners of the vehicle body frame 1b, and only the front wheels are floated when the iron wheels 61 are extended. Then, the iron wheels 61 are slid on the track line 62 by the driving force of the rear wheels to form an aerial work vehicle that can travel.

Then, each outrigger 16 is provided with limit switches LSa to Lsd as detectors for detecting the projecting state of each outrigger 16, that is, the extension operation of each jack 17. Further, between the power supply line 41 and the ground line 42, a jack extension operation detection circuit 44g for detecting the extension operation of each jack 17 is provided, and each jack 17 is attached to the jack extension operation detection circuit 44g. The limit switches LSa to LSd, which switch to the operating state when the jacks 17 are in the extended state, and switch to the inactive state when the jacks 17 are in the contracting state, and energize when the limit switches LSa to LSd are operating. The relay CRa is connected. Between the power supply line 41 and the earth line 42, a right turn drive circuit 45g for turning the boom 3 right and a left turn drive circuit 45h for turning the boom 3 left are provided in parallel. , A solenoid SOLE and a left turning control valve of the right turning control valve 35 in parallel with the a contact of the relay CRa on the base end side (power supply line 41 side) of the both turning drive circuits 45g, 45h. 36 solenoid SOLf is connected.

In this case, when the overhead wire construction or the like is performed on the track wiring 62 without extending the jacks 17 of the outriggers 16, the limit switches LSa to LSd of the limit switches LSa to LSd for detecting the extension state of the jacks 17 are used. The output of the hydraulic motor 7 is stopped based on the unactuated state, and the rotational drive of the boom 3 is restricted.

As a result, the swinging of the boom 3 is regulated by the limit switches LSa to LSd provided on each outrigger 16, which makes it possible to reduce the cost and simplification of the swinging restricting device and to perform a work that involves a risk of turning. It is possible to reliably prevent disconnection accidents, such as during overhead line construction, while ensuring reliability and smoothness.

It should be noted that the present invention is not limited to the above-described embodiments, but includes various other modifications. For example, in addition to the aerial work vehicle applied in each of the above-described embodiments, as shown in FIG. 7, a crane vehicle 70 as a work vehicle including a luggage hanging hook 71 at the tip of the boom 3, or FIG. Needless to say, the present invention can also be applied to a backhoe vehicle 80 as a work vehicle equipped with the excavation device 81 mounted on the swivel base 5, as shown in FIG. In this case, the turning restriction region of the swivel base 5 of the crane vehicle 70 and the backhoe vehicle 80 is selected by a selection switch similar to that of the first embodiment, although not shown.

Further, in each of the above embodiments, the hydraulic motor 7 is used as the drive source, but an electric motor, an air motor, or the like may be used as the drive source.

Further, in the first embodiment described above, the turning restriction area is divided into substantially left and right turning restriction areas, but it is divided into the left and right turning restriction areas which are completely on the vehicle body center line, and the front and rear turning restriction areas. Alternatively, it may be divided into smaller turning regulation areas.

[Brief description of drawings]

FIG. 1 is an electric circuit diagram of a hydraulic motor according to a first embodiment.

FIG. 2 is a hydraulic circuit diagram according to FIG.

FIG. 3 is an explanatory view showing a turning area of the boom according to the first embodiment in a plan view.

FIG. 4 is a side view of an aerial work vehicle according to the first embodiment.

FIG. 5 is a view corresponding to FIG. 1 according to the second embodiment.

FIG. 6 is a view corresponding to FIG. 4 according to the second embodiment.

FIG. 7 is a view corresponding to FIG. 4 according to a modified example.

FIG. 8 is a view corresponding to FIG. 4 according to a modified example.

[Explanation of symbols]

 1b Body frame 5 Swivel base 7 Hydraulic motor (drive source) 16 Outrigger 43 Circuit (control device) 44c Area discrimination detection circuit (turning control device) LS1 to LS3, LSa to LSd Limit switch (detector) SW selection switch

Claims (2)

[Scope of utility model registration request] 1. A work vehicle comprising: a swivel mounted on a vehicle body frame so as to be swivel; a drive source for rotationally driving the swivel; and a control device for controlling an operating state of the drive source. The swivel area of the swivel base is divided into a plurality of swivel areas, and detectors are provided between the swivel base and the vehicle body frame to detect boundary positions between mutually adjacent swivel areas. Alternatively, the body frame is provided with a selection switch for appropriately selecting a predetermined turning area for restricting the turning of the turntable from among the plurality of turning areas, and the control device controls the predetermined turning area boundary position by the selection switch. A turning restriction device for a working vehicle, which is configured to stop the output of the drive source when the swivel base reaches a predetermined swivel area boundary position based on the operating state of each of the detectors. . 2. A swivel mounted on a vehicle body frame having a plurality of outriggers capable of overhanging so as to swivel, a drive source for rotationally driving the swivel, and a control device for controlling an operating state of the drive source. In the work vehicle provided with, each of the outriggers is provided with a detector for detecting the overhang state of the outrigger, and the control device is configured to not operate the detector when the outriggers are not in the overhang state. A turning restriction device for a working vehicle, which is configured to stop the output of the drive source based on a state.