JPH10230824A - Outrigger automatic stretching device of work vehicle and automatic stretching method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the work efficiency and safety of vehicle body horizontal control by judging that a tire is floating when a change rate of a reaction sensor which inputs per a predetermined period of time for time of a detection signal is below a predetermined value and a reaction signal is above a predetermined value and outputting a close command to a jack individual control valve. SOLUTION: Pressure oil is individually supplied into and discharged out of a bottom chamber and a head chamber of each jack cylinder 7 which drives an outrigger from a jack individual control valve 11. Bottom pressure of the jack cylinder 7 is detected by a pressure sensor and is inputted into a floating control controller at a fixed interval. A change rate of reaction from the ground surface of an outrigger for time which is obtained from this pressure signal is calculated and is compared with a predetermined set value. When it is below the predetermined set value and reaction force of the outrigger is above a predetermined set value, it is judged that a tire is floating, and a close command is output to the jack individual control valve 11. As a result, it is possible to improve the workability and work efficiency by a work vehicle even when weight of a vehicle body that the outrigger shares is not determined.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically extending an outrigger of a work vehicle and a method of automatically extending an outrigger, and more particularly to an automatic outrigger for a tire traveling type work vehicle such as a rough terrain crane, a truck crane, or a high work vehicle. The present invention relates to an overhang device and an outrigger automatic overhang method.

[0002]

2. Description of the Related Art As a first prior art, FIGS.
1 will be described with reference to an outrigger extension device for a crane truck shown in FIGS. 1 and 2. FIG. FIG. 1 shows a work vehicle having an outrigger. As shown in FIG. 1 (A), an upper revolving unit 2 is provided on a self-propelled lower traveling unit 1 so as to be freely rotatable.
A boom 3 and a cab 4 are installed on the upper swing body 2. Outriggers 5 for stabilizing the vehicle body 1a of the lower traveling body 1 during work are provided before and after the lower traveling body 1. Further, a two-axis tilt angle sensor 15a and 15b for detecting the tilt of the vehicle body 1a in the front-rear direction and the left-right direction
5 are provided.

As shown in FIG. 1 (B), each jack cylinder 7 is vertically fixed to the tip of an outrigger arm 6 which expands and contracts to the side of the vehicle body 1a. A float 8 is swingably attached to the tip of a piston rod 7a projecting downward. Each jack cylinder 7 is provided with a hydraulic pressure sensor 17 for detecting the hydraulic pressure on the bottom side of the jack cylinder 7. Signals detected by these sensors 15, 17 are input to a controller 120 shown in FIG. Based on the signals of the sensors 15 and 17, FIG.
Are controlled.

FIG. 2 shows a hydraulic circuit of the outrigger 5, and a hydraulic pump 9b driven by an engine 9a.
The pressure oil discharged from the tank is
And is supplied to the bottom side of each arm slide cylinder 12 via a jack individual control valve 11 provided for each jack cylinder 7 and to the head side of each jack cylinder 7 via a double check valve 13. The other is supplied to the head side of each arm slide cylinder 12.

Next, an operation at the time of horizontal installation using the control system shown in FIG. 12 will be described with reference to a flowchart shown in FIG. In FIG. 12, reference numeral 121 denotes an automatic horizontal setting switch, 122 denotes an alarm unit that issues an alarm in response to a command from the controller 120, and 123 denotes a display device that indicates the operating state of the outrigger 5. When the crane truck is stopped on a slope or the like and work is performed by the boom 3, first, the outrigger arm 6 is extended as long as possible to stabilize the vehicle body 1a. Next, in this state, the automatic horizontal setting switch 121 is turned off.
If N, the process proceeds to step 101 of the flow shown in FIG. 13, in which the controller 120 checks whether there is any abnormality in the sensor or the like. If there is an abnormality, an alarm is issued. , Pressure flags are both OK.

If at least one of the horizontal flag and the pressure flag is not OK, the routine proceeds to step 103, where the pressure flag is checked and the pressure flag is set to OK.
If not, the routine proceeds to step 104, where the pressure control routine shown in FIG. 14 is performed, and thereafter, the routine proceeds to step 105, where the horizontal control routine shown in FIG. 15 is performed.

If it is determined in step 103 that the pressure flag is OK, the flow proceeds to step 106 to execute the horizontal control routine. Thereafter, the flow advances to step 107 to execute the pressure control routine. , And both pressure flags are OK. If OK, the crane vehicle ends the control, assuming that the horizontal installation of the vehicle body is completed, and outputs a control end display to a display device (not shown).

Next, a pressure control routine shown in FIG. 14 will be described. First, in step 201, it is determined whether or not the hydraulic pressures of the four jack cylinders 7 have reached the set value for floating the tires and whether the sum falls within a hydraulic pressure range corresponding to the gross vehicle weight. In this case, the process proceeds to step 202, in which the jack individual control valve 11 and the outrigger selection valve 10 of the missing jack cylinder 7 are operated for ti seconds to supply insufficient hydraulic pressure. Thereafter, it is checked in step 203 whether the hydraulic pressure of the jack cylinder 7 has reached the relief set pressure, and if it has reached the relief set pressure, it is determined that the jack cylinder 7 has reached the stroke end, and an alarm is output in step 204. ,
In step 205, the control ends. If the hydraulic pressure of the jack cylinder 7 has not reached the relief set pressure in step 203, the process returns to step 201 to check. If OK, the pressure flag is turned on and the process proceeds to the next step.

Next, a horizontal control routine will be described with reference to FIG. The inclination of the vehicle body 1a stopped on the slope is, for example, the front-back inclination angle α, α> 0 rises forward, and the left-right inclination β is
β> 0 is assumed to rise to the left. First, in step 301, it is checked whether both the absolute values of α and β are equal to or smaller than the set value a degrees, and if not, the process proceeds to step 302. In step 302, for example, the inclination in front, rear, left and right is α> 0, β
If> 0, it is determined that the vehicle body 1a has risen forward, and the rear right individual outrigger control valve 11 is set to t in accordance with the magnitudes of α and β.
Run for j seconds. If both α and β are not more than a degrees in step 301, the horizontal flag is turned on and the process proceeds to the next step.

A second prior art will be described with reference to Japanese Utility Model Laid-Open No. 62-72360 shown in FIG. When the outrigger device 205 is extended, when all the outriggers 205 are installed, the hydraulic cylinder 208
Circuit pressure greatly changes from low pressure to high pressure. Since this pressure change is displayed on the display device 215 in the cab 202a, the operator stops the outrigger operation of the outrigger device 205 and does not damage the ground.
, The vehicle body 201 is stably supported.

[0011]

[Problems to be solved by the invention]

(1). In the first prior art, the detection of the lifting of the tire is performed by calculating the load of the outrigger 5 (the reaction force f of the outrigger received from the ground) by the hydraulic sensor 17 of the jack cylinder 7 for driving the outrigger 5 as shown in FIG. hand,
When the sum thereof approaches the weight of the vehicle body, the vehicle body is substantially supported by the outrigger 5, and the work is performed assuming that the tires are in a floating state. However, the weight of the vehicle body distributed to each outrigger 5 is not always determined by the weight distribution on the vehicle body, and the vehicle weight itself varies depending on the product. The range of f3 is wide. Therefore, the threshold value f3 shown in FIG. 17A is set as a safe value, for example, about 90% of the design value. That is, the reaction force f is about 90% of the design value.
%, It is determined that the tire has floated. However, when the actual vehicle weight distributed to each outrigger 5 becomes larger than about 90% of the design value, the increase is supported by the tire. The vehicle body becomes unstable. Therefore, it is necessary for an operator to visually check the floating state of the tire, and there is a problem that workability and work efficiency are reduced.

(2). In the vehicle body automatic leveling control according to the first conventional technique, a detection signal of a horizontal sensor or a hydraulic sensor of a jack cylinder is input, and a controller automatically selects an outrigger to be extended. There was a problem that the vehicle body might move unexpectedly, which hinders safety. (3). In the second prior art, in the process where all the outrigger devices 205 are grounded and the circuit pressure of the hydraulic cylinder 208 changes from low pressure to high pressure, the vehicle weight supported by the tire gradually moves to the outrigger 205. Is an elastic body, p of the bottom pressure p of the hydraulic cylinder 208
The change from 1 to p2 becomes slow as shown in FIG. 17 (B), it takes T time to completely ground, and the grounding of the outrigger 205 cannot be detected accurately. for that reason,
As in the case of the first related art, it is necessary for the operator to visually check the ground contact state of the tire, and there is a problem that workability and work efficiency are reduced.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art. By accurately detecting an outrigger's ground contact state and tire floating state, the work efficiency of automatic body level control and safety are improved. It is an object of the present invention to provide an outrigger automatic extension device for a work vehicle that improves the operability and enables the operator to forcibly stop the automatic vehicle body level control to improve work safety.

[0014]

In order to achieve the above object, a first invention of an outrigger automatic extension device for a work vehicle according to the present invention comprises a plurality of outriggers installed on the work vehicle. Driving each jack cylinder 7
And a jack individual control valve 11 for individually supplying pressure oil to each jack cylinder 7, and a jack individual control valve 11
In an outrigger automatic extension device for a work vehicle comprising a pressure oil supply source 9b for supplying pressurized oil to the outboard and a reaction force sensor 17 for detecting an outrigger reaction force of each outrigger 5 with respect to the ground, the reaction force detected by the reaction force sensor 17 is A force signal is input every predetermined time, a change rate of the outrigger reaction force signal with respect to time is calculated, and the change rate is equal to or less than a predetermined set value, and the outrigger reaction force signal is equal to or more than a predetermined set value. Sometimes it is determined that the tire is floating, and the jack individual control valve
Tire lifting controller 2 that outputs a closing command to 11
0,30.

According to the first aspect of the present invention, the rate of change of the reaction force signal detected by the reaction force sensor 17 with respect to time always passes from a substantially constant value θ to zero when the tire is floating. When the value becomes as close to zero as possible, it can be considered that the tire is floating. However, the rate of change of the reaction force becomes a value close to zero because it occurs even when the reaction force rises.
In order to distinguish from this, a condition that the reaction force is equal to or more than a certain ratio of the maximum reaction force is added. As described above, even when the weight of the vehicle body to be shared by the outrigger 5 is not determined unequivocally, or when there is variation in the vehicle weight itself due to the product, the tire floating state is accurately detected and each jack individual control valve 11 is closed. Therefore, workability by the work vehicle and work efficiency can be improved.

A second invention of the automatic outrigger extension device for a work vehicle according to the present invention is directed to a jack cylinder 7 for driving a plurality of outriggers 5 installed in the work vehicle, and a hydraulic fluid individually applied to each jack cylinder 7. Work comprising a jack individual control valve 11 for supplying pressure, a pressure oil supply source 9b for supplying pressure oil to each jack individual control valve 11, and a reaction force sensor 17 for detecting an outrigger reaction force of each outrigger 5 against the ground. In the automatic outrigger device for a car, the reaction force sensor
An outrigger reaction force signal detected by 17 is input every predetermined time, a change rate of this outrigger reaction force signal with respect to time, and an increase / decrease of this change rate with respect to time are calculated, and the change rate is equal to or less than a predetermined set value. And a tire lifting controller (20, 30) for determining that the tire is floating when the rate of change decreases with respect to time and outputting a closing command to the jack individual control valve.

According to the second aspect of the present invention, the rate of change of the reaction force signal detected by the reaction force sensor 17 with respect to time always passes from a substantially constant value θ to zero when the tire is floating. When the value becomes as close to zero as possible, it can be considered that the tire is floating. However, the rate of change of the reaction force becomes a value close to zero because it occurs even when the reaction force rises.
To distinguish it from the above, a condition is added when the rate of change of the reaction force decreases. As described above, even when the weight of the vehicle body to be shared by the outrigger 5 is not determined unequivocally, or when there is variation in the vehicle weight itself due to the product, the tire floating state is accurately detected and each jack individual control valve 11 is closed. Therefore, workability by the work vehicle and work efficiency can be improved.

According to a third aspect of the outrigger automatic extension device for a work vehicle according to the present invention, in the first or second aspect, a body level sensor 15 for detecting the level of the body 1a; A body level control controller 120 for outputting a body level control signal to each jack individual control valve 11 in accordance with the detection signal, and pressurizing each jack cylinder 7 until the detection value of each reaction force sensor 17 reaches a predetermined value. After supplying the oil to ground all the outriggers 5 and performing automatic vehicle leveling control by the vehicle level control controller 120, a predetermined amount of pressure oil for maintaining the level of the vehicle body 1a is applied to each jack cylinder 7. The plurality of outriggers 5 are supplied at the same time to control the lifting of all the tires.

According to the third aspect, all the outriggers 5 are grounded while the vehicle body 1a is automatically leveled by the vehicle body level controller 120. Thereafter, when a predetermined amount of pressurized oil for keeping the body level is supplied to each jack cylinder 7 at the same time, all the tires are simultaneously in a floating state while the body 1a is kept level. Therefore, if the body 1a is first horizontally controlled and all the outriggers 7 are grounded, after that, only a predetermined amount of pressurized oil is simultaneously supplied to all the jack cylinders 7, and all the tires are simultaneously kept while the body 1a is horizontal. The tire is in a floating state, so that the outrigger 5 can easily control the lifting of the tire. Therefore, work efficiency and safety of the work vehicle are greatly improved.

According to a fourth aspect of the present invention, there is provided an automatic outrigger extension device for a work vehicle according to the first or second aspect, wherein a body level sensor for detecting the level of the body and a detection of the body level sensor are provided. Each jack individual control valve sends a vehicle body automatic level control signal that controls the vehicle body 1a horizontally according to the signal.
And a vehicle body horizontal control controller 120 for outputting to the
After supplying the pressurized oil to each jack cylinder 7 and grounding all the outriggers 5 until the detection value of each reaction force sensor 17 reaches a predetermined value, while automatically controlling the vehicle body by the vehicle body level control controller 120, Each jack cylinder 7 is jacked up until the tire lifting controller 20 determines that all of the plurality of outriggers 5 have raised the tire.

According to the fourth aspect of the present invention, the pressure oil is supplied to each jack cylinder 7 until the detected value of each reaction force sensor 17 reaches a predetermined value, and all the outriggers 5 are grounded. Then, while the vehicle body leveling controller 120 automatically controls the vehicle body level, the tire lifting controller 20 controls all outriggers.
5 reliably controls the lifting of the tires. Therefore, work efficiency and safety of the work vehicle are greatly improved.

According to a fifth aspect of the present invention, there is provided an automatic outrigger extension device for a work vehicle according to the first or second aspect, wherein a body level sensor 15 for detecting the level of the body 1a, A vehicle level control controller 120 for outputting a vehicle level control signal for jacking up each jack cylinder 7 to each jack individual control valve 11 in accordance with the detection signal;
When it is determined that the tires have floated for all of the plurality of outriggers 5 by 0,30, a closing command is output to the jack individual control valve 11 to stop the jack-up of each jack cylinder 7, and then the vehicle body horizontal control controller 120 The automatic body leveling control is performed by using

According to the fifth aspect of the present invention, by accurately detecting the tire floating state by the tire floating control controllers 20, 30, after the vehicle body 1a is stably supported by all the outriggers 5, the vehicle horizontal level control controller When the automatic body level control is performed by using the vehicle 120, the automatic body level control is stably and efficiently performed, so that the work efficiency and safety of the work vehicle are greatly improved.

According to a sixth aspect of the present invention, there is provided the automatic outrigger apparatus for a work vehicle according to the fifth aspect, wherein each of the reaction force sensors is controlled before the tire lifting control is started by the tire lifting controller. Pressure oil is supplied to each jack cylinder 7 until the detected value of 17 reaches a predetermined value, all the outriggers 5 are grounded, and the vehicle level control controller 120 performs vehicle level automatic control.

According to the sixth aspect of the present invention, after all the outriggers 5 are grounded and the vehicle body 1a is controlled horizontally, the tire floating control is started by the tire floating controllers 20, 30, so that the tire floating control is performed. It is stable and completes in a short time.

According to a seventh aspect of the present invention, there is provided an automatic outrigger apparatus for a work vehicle, comprising: a plurality of jack cylinders 7 for driving a plurality of outriggers 5 installed in the work vehicle; The outrigger of the working vehicle includes a jack individual control valve 11 for supplying pressure, a pressure oil supply source 9b for supplying pressure oil to each jack individual control valve 11, and a pressure sensor 17 for detecting a head pressure of each jack cylinder 7. In the automatic overhanging device, when the head pressure detected by the pressure sensor 17 is substantially zero, it is determined that the outrigger 5 is in contact with the ground, and the jack individual control valve 11 is closed.

According to the seventh invention, each jack cylinder
Since the head pressure of 7 does not act in the direction in which the outriggers 5 protrude unlike the bottom pressure, when the outriggers 5 touch the ground, the grounding of the outriggers 5 can be accurately detected without a change in the weight of the vehicle body supported by the tires. Therefore, all outriggers
If control such as automatic body level control is started after stabilizing the vehicle body 1a by reliably grounding the ground 5, the control can be performed accurately and stabilized quickly.

According to an eighth aspect of the present invention, there is provided an automatic outrigger extension device for a work vehicle, comprising: a plurality of jack cylinders 7 for driving a plurality of outriggers 5 installed in the work vehicle; , A pressure oil supply source 9b for supplying pressure oil to each jack individual control valve 11, a body level sensor 15 for detecting the level of the body 1a, and a hydraulic sensor for each jack cylinder 7. 17 and
A body level control controller 40 that outputs a body level control signal to each jack individual control valve 11 in accordance with each detection signal of the body level sensor 15 and the hydraulic pressure sensor 17, and an automatic controller that activates the body level control controller 40. An outrigger automatic extension control device for a work vehicle having a control start switch 41 and an automatic control stop switch 42 for outputting a signal for stopping the automatic control by the vehicle body horizontal control controller 40 is provided.

According to the eighth aspect of the present invention, during automatic extension of the outrigger of the working vehicle so that the vehicle body is horizontal,
Even if the vehicle body 1a is in a dangerous state due to an unstable factor in the control system or an error in the control system, the automatic extension control can be forcibly stopped in preference to the automatic control by the operator's will. For this reason, the safety of the outrigger automatic extension operation of the work vehicle can be significantly improved. When the vehicle body level controller 40 receives the detection signal of the vehicle body level sensor 15 and the hydraulic signal from the hydraulic pressure sensor 17 of each jack cylinder 7, the hydraulic oil necessary for leveling the vehicle body according to the detection signals is generated. The opening degree of each jack individual control valve 11 is controlled so as to be supplied to the jack cylinder 7.

According to a ninth aspect of the present invention, in the ninth aspect of the present invention, the vehicle body level controller 40 inputs a signal for stopping automatic control from an automatic control stop switch 42. Alternatively, when a signal is input again from the automatic control activation switch 41, the automatic body level control is interrupted.

According to the ninth aspect of the present invention, the vehicle body 1a
During the outrigger automatic extension of the work vehicle so that is horizontal, press the automatic control stop switch even if the vehicle body 1a is in a dangerous situation, to forcefully stop the automatic extension control,
Alternatively, when a signal is input again from the automatic control activation switch 41, the automatic body level control is interrupted, so that the cause of the dangerous state can be safely checked. For this reason, the safety of the outrigger automatic extension work of the work vehicle and the work efficiency can be greatly improved.

According to a tenth aspect of the present invention, each jack cylinder 7 for driving a plurality of outriggers 5 installed in a work vehicle is extended to drive each jack cylinder 7 up to control the vehicle body 1a horizontally. In the outrigger automatic extension control method for a work vehicle, the outrigger automatic extension control is stopped by a signal from outside the driver's seat during the outrigger automatic extension control.

According to the tenth aspect of the present invention, the vehicle body
During the outrigger automatic extension of the work vehicle so that the 1a is horizontal, even if the vehicle body 1a is in a dangerous situation, the automatic extension control can be forcibly stopped in preference to the automatic control from the outside by the operator's volition. . For this reason, the safety of the outrigger automatic extension operation of the work vehicle can be significantly improved.

According to an eleventh aspect of the present invention, in the tenth aspect, the outrigger automatic extension control is stopped by a signal from the outside of the driver's seat, or the automatic control activation switch 41 which has started the outrigger automatic extension control is operated. It is characterized in that the button is pressed again to interrupt the outrigger automatic extension control.

According to the eleventh aspect of the present invention, the vehicle body
During the outrigger automatic extension of the work vehicle so that 1a is horizontal, even if the vehicle body 1a is in a dangerous situation, after forcibly stopping the automatic extension control, if a signal is input again by the automatic control start switch 41, Since the automatic body level control is interrupted, it is possible to safely check the cause of the dangerous state. For this reason, the safety of the outrigger automatic extension work of the work vehicle and the work efficiency can be greatly improved.

[0036]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an outrigger automatic extension device for a working vehicle according to the present invention will be described below with reference to FIGS.
This will be described in detail with reference to FIG. In the following description, the same members as those of the above-described conventional technology are denoted by the same reference numerals, and description thereof will be omitted.

FIGS. 1A and 1B show a crane truck to which each embodiment of the present invention is applied. FIG. 1A is a side view and FIG. 1B is a front view. The two-axis tilt angle sensor 15 is an embodiment of the horizontal detection sensor of the present invention, and includes the front-rear direction and left-right tilt angle sensors 15a and 15b. FIG. 2 is a hydraulic circuit diagram of the outrigger in FIG. 1. The hydraulic pump 9b selectively drives a variable displacement hydraulic pump or a plurality of fixed displacement hydraulic pumps to change the discharge flow rate. I do.

FIG. 3 is a control block diagram showing a first embodiment (first embodiment) of the outrigger automatic extension device for a working vehicle according to the present invention. Pressure oil is individually supplied and discharged from the individual jack control valve 11 to the bottom chamber and the head chamber of each jack cylinder 7 for driving the outrigger 5 shown in the hydraulic circuit of FIG. Jack cylinder 7
Is detected by a pressure sensor 17, and the pressure signal is outputted at a predetermined interval from the input unit 2 of the floating controller 20.
1 is input. The first calculating unit 22 calculates a rate of change (Δf / Δt) of the reaction force f received from the ground of the outrigger 5 with respect to time, which is obtained from the pressure signal, and the first determining unit 2
3, the pressure change rate (Δf / Δt) is set to a predetermined value Δ
Compared with f0, (.DELTA.f / .DELTA.t) .ltoreq..DELTA.f0, and the second calculating section 24 calculates the reaction force f of the outrigger 5 from the pressure signal, and the second determining section 24 calculates the reaction force f as a predetermined set value f4.
When f ≧ f4, it is determined that the tire has floated, and the output unit 26 outputs a closing command to the jack individual control valve 11. The reaction force f is obtained as a rough value from the bottom pressure of the jack cylinder 7, but more precisely, it is accurately obtained by detecting the oil pressure on the bottom side and the head side of the jack cylinder 7 and taking the area difference into account. . The ground reaction force applied to the jack cylinder 7 can be easily implemented by a method using a strain gauge or the like.

FIG. 4 is a control block diagram showing a second embodiment (the second embodiment) of the outrigger automatic extension device for a working vehicle according to the present invention. The bottom pressure of the jack cylinder 7 is detected by the pressure sensor 17, and the pressure signal is input to the input unit 31 of the floating controller 30 at regular intervals. In the first calculation unit 32, the rate of change of the reaction force f of the outrigger 5 obtained from the pressure signal with respect to time (Δf / Δ
t) is calculated, and the first determination unit 33 compares this pressure change rate (Δf / Δt) with a predetermined set value Δf0, and calculates (Δf
/ Δt) ≦ Δf0 is output to the output unit 36. Further, the third calculator 34 changes the change rate (Δf / Δt) calculated by the first calculator 32 with respect to time [(Δf / Δt).
/ Δt] is calculated, and the calculated value is output to the output unit 36 when the third determination unit 35 determines that the value is a decreasing function (negative).
When the two outputs are input to the output unit 36, the output unit 36 outputs a closing command to the jack individual control valve 11 assuming that the tire is floating.

FIGS. 5A and 5B are diagrams showing the change over time of the reaction force in FIGS. 3 and 4, wherein FIG. 5A is an overall view and FIG.
FIG. The operation of the configuration shown in FIGS. 3 and 4 will be described with reference to FIG. The rate of change (Δf / Δt) of the reaction force f of the outrigger 5 with respect to time always changes from a substantially constant value θ to zero at the completion of the tire lifting in the process of lifting the tire.
What is necessary is to take f0. However, the rate of change of the reaction force f (Δf / Δ
t) becomes a value Δf0 close to zero when the reaction force f rises. To distinguish from this, for example, (f)
A wide range of set values f4 of 1 + f2) / 2 or more is provided.
When (Δf / Δt) ≦ Δf0 and f ≧ f4, it is determined that the tire is in a floating state. Further, in FIG. 4, in order to distinguish Δf0 from the rise time, the rate of change (Δf / Δt) of the reaction force f at the rise time is determined.
It can be seen from that the change [(Δf / Δt) / Δt] with respect to time is an increasing function (positive). The output units 26 and 3
By outputting the information from 6 to a display device in the driver's cab and displaying it, the operator can easily confirm that the lifting of the tire has been completed.

FIG. 6 is a view showing a third embodiment (an embodiment of claim 7) of an outrigger automatic extension device for a work vehicle according to the present invention, and FIG. 6 (A) is a view showing a head cylinder oil pressure measuring device of a jack cylinder. (B) is a diagram showing a temporal change of the head side hydraulic pressure. Pressure oil is individually supplied and discharged from the individual jack control valve 11 to the bottom chamber and the head chamber of each jack cylinder 7 for driving the outrigger 5 shown in the hydraulic circuit of FIG. The head pressure of the jack cylinder 7 is detected by a pressure sensor 27, and the pressure signal is input at regular intervals to a controller (not shown) similar to FIG.
When the head pressure detected by the pressure sensor 27 is substantially zero, it is determined that the outrigger 5 is grounded, and the jack individual control valve 11 is closed.

The operation of the configuration shown in FIG.
This will be described with reference to FIG. Assuming the head pressure p3 of the jack cylinder 7, the head-side cross-sectional area A1, the bottom pressure p4, the bottom-side cross-sectional area A2, the weight W of the piston and the rod, and the ground reaction force F, a force of p4.A2 + W = p3.A1 + F Is established. Therefore, when p3 = 0, it is detected that the contact force (= reaction force f) of the outrigger 5 becomes F = p4.A2 + W. Thus, the head pressure p3 is equal to the bottom pressure p.
4 does not act in the direction in which the outrigger 5 extends, so that when the outrigger 5 touches the ground, the weight of the vehicle body supported by the tire does not change. Therefore, the pressure change of the head pressure p3 is
As compared with the change time T shown in FIG. 18B, the grounding of the outrigger 5 can be detected accurately. By accurately detecting the grounding of the outriggers 5 and ensuring that all the outriggers 5 are grounded, it is possible to start control such as automatic body level control after the vehicle body 1a is stabilized. Outrigger 5
If the operator's cab indicates that the touchdown has been completed, it is easy for the operator to confirm.

FIG. 7 is a flow chart of the automatic vehicle body horizontal control after the tire lifting routine in a fourth embodiment (an embodiment of the fifth aspect) of the outrigger automatic extension device for a working vehicle according to the present invention. In FIG. 7, the content within the two-dot chain line is the same as that of the vehicle body automatic level control according to the first conventional technique shown in FIG. When the all tire lifting flag is not OK in step 109 before step 102 shown in FIG. 15, the tire lifting routine 500 shown in FIG. 8 is executed for all of the plurality of outriggers 5 and all of the plurality of outriggers 5 are lifted. When the state becomes the state and all the tire lifting flags become OK, the routine proceeds to step 102, where the automatic body leveling control is performed.

The flowchart of FIG. 7 will be described.
When the control of the tire lifting routine 500 shown in FIG. 8 is completed and each jack cylinder 7 is jacked up until all the tires are reliably lifted, regardless of a change in the vehicle weight shared by the outrigger 5 or a variation in the total vehicle weight, etc. Since the tire floating state is accurately detected, the vehicle body is stably supported by the outrigger 5. Therefore, the vehicle body 1a is stably supported by the outrigger 5 in the state where all the tires are floating, so that the subsequent automatic vehicle leveling control can be performed stably and accurately.

FIG. 8 shows a tire lifting routine 5 in FIG.
It is a flowchart of 00. When the flow starts, the process proceeds to step 501, where the right front tire lift flag is set to O.
If K, proceed to the next step. If the right front tire floating flag is not OK, the process proceeds to step 502, the SOL on the bottom right side of the right cylinder is turned on, and the process proceeds to step 503, where the difference between the outrigger reaction force a predetermined time t seconds ago and the current outrigger reaction force is obtained. , The rate of change of the outrigger reaction force is obtained. Thereafter, the process proceeds to step 504, where it is determined whether the rate of change of the outrigger reaction force is equal to or less than the set value and the outrigger reaction force is equal to or greater than the set value. If NO, the process returns to step 501; Turn on the outrigger right front flag and set the S
OL is turned off and the process proceeds to the next step. The same flow is executed for the right front outrigger and simultaneously for the left front, right rear and left rear outriggers.

FIG. 9 is a view showing a fifth embodiment (an embodiment of the sixth aspect) of the outrigger automatic overhanging apparatus for a working vehicle according to the present invention. The description is omitted because it is the same as the embodiment. If the horizontal preparation flag is not OK in step 108 before step 109 shown in FIG. 7, the horizontal preparation routine 30 shown in FIG.
0, when all the outriggers 5 touch the ground while the vehicle body 1a is in a horizontal state, that is, when the horizontal preparation flag
When K is reached, the routine proceeds to step 109, in which the vehicle body automatic level control after the tire lifting routine shown in FIG. 7 is performed.

FIG. 10 is a horizontal preparation routine 3 in FIG.
It is a flowchart of 00. The two-dot chain line in FIG. 10 is the same as the horizontal control routine of the first prior art shown in FIG. 17, and the outrigger individual control valve 11 is set to α, while the horizontal of the vehicle body 1a is sensed by the two-axis tilt angle sensor 15. The vehicle body 1a is controlled in accordance with the magnitude of β so as to approach the horizontal. If both α and β are equal to or smaller than the set value a degrees in step 301, the process proceeds to step 303. If the outrigger 5 is grounded, the horizontal preparation flag is turned on and the process proceeds to the next step. If the outrigger 5 is not in contact with the ground in step 303, the SOL on the bottom side of the squeeze cylinder 7 where the pressure is insufficient is turned on for ti seconds to supply pressure oil, and the process returns to step 301. This flow is executed for the right front outrigger at the same time as the right front outrigger is executed.

In the control shown in FIGS. 7 and 9, when it is determined that one of the outriggers 5 is floating, the amount of pressure oil supplied to the jack cylinder 7 of the other outrigger 5 is reduced, or When any one of the outriggers 5 comes in contact with the ground, reduce the amount of pressure oil supplied to the jack cylinders 7 of the remaining outriggers 5 and
After grounding 5, the amount of pressurized oil supplied to all jack cylinders 7 is increased again to start tire lifting control.

When the amount of the pressure oil supplied to the jack cylinder 7 is controlled in this way, if one of the outriggers 5 is grounded, the required flow rate of the pressure oil is reduced by that amount. If the flow supplied by the source 9b is reduced,
The control can be performed accurately without increasing the flow rate to the remaining jack cylinders 7. When all the outriggers 5 are in contact with the ground, the control shifts to the tire lifting control of all the outriggers 5.Therefore, the amount of pressurized oil supplied to all the jack cylinders 7 is increased, and the lifting of the tires is reduced without decreasing the jack-up speed. Control is performed. Regarding the tire floating control, if any one of the outriggers 5 is in the tire floating state, the supply flow rate of the required pressure oil decreases correspondingly, so if the flow rate of the pressure oil supply source 9b is reduced, Thus, accurate control can be performed without increasing the flow rate to the remaining jack cylinders 7.

A sixth embodiment (third embodiment) of the outrigger automatic extension device for a working vehicle according to the present invention will be described with reference to FIGS. In FIG. 9, when the horizontal preparation routine 300 is completed and the horizontal preparation flag becomes OK in step 108, thereafter, the jack individual control valve 11 shown in FIG. 2 is adjusted to maintain the vehicle body horizontal. Reduce the amount of pressurized oil to each jack cylinder 7
At the same time, while the body 1a remains level,
All the tires are in a floating state at the same time.

A seventh embodiment (the fourth embodiment) of the outrigger automatic extension device for a working vehicle according to the present invention will be described with reference to FIG. In FIG. 9, when the horizontal preparation routine 300 is completed and the horizontal preparation flag becomes OK in step 108, the vehicle body horizontal control controller 120 controls the vehicle automatic leveling while the tire lifting control controller 20 controls the plurality of outriggers 5 for all tires. Each jack cylinder 7 is jacked up until floating is determined. Therefore, all the tires of the plurality of outriggers 5 are in a floating state while the vehicle body 1a is controlled to be in a horizontal state.

In the fourth and fifth embodiments, the extension length of the outrigger arm 6 is detected by the outrigger length sensor 16 as in the first prior art shown in FIG. If the operation time of the jack individual control valve 11 is corrected accordingly, highly accurate automatic body level control can be performed in a short time regardless of the extension length of the outrigger arm 6.

An eighth embodiment (an embodiment of claims 8 to 11) of an outrigger automatic extension device for a working vehicle according to the present invention will be described with reference to FIGS. 1, 2, and 11. FIG. Components similar to those of the first prior art shown in FIG. 15 are denoted by the same reference numerals, and description thereof is omitted. A jack individual control valve 1 for individually supplying hydraulic oil to each jack cylinder 7 that drives each of the front, rear, left and right outriggers 5 installed on a crane truck
1 is supplied with pressure oil from a hydraulic pump 9b which is a pressure oil supply source. When the vehicle body level controller 40 receives the detection signal of the vehicle body level sensor 15 and the hydraulic signal from the hydraulic pressure sensor 17 of each jack cylinder 7, the hydraulic oil necessary to level the vehicle body according to the detection signals is generated. The opening degree of each jack individual control valve 11 is controlled so as to be supplied to the jack cylinder 7. Automatic control start switch 4
When 1 is closed, automatic control by the vehicle body horizontal control controller 40 starts. Also, the automatic control stop switch 4
When the vehicle 2 is closed, the automatic control by the vehicle body horizontal controller 40 stops. The automatic control start switch 41 may be pressed again to input a signal to the vehicle body level control controller 40 to interrupt the vehicle body automatic level control.
It should be noted that the automatic control stop switch 42 may be configured to input an automatic control stop signal to the controller when it is opened.

The operation of FIG. 11 will be described. Body 1a
During the automatic extension of the outrigger of the crane truck so that the vehicle body 1a is horizontal, even if the vehicle body 1a may be in a dangerous state due to an unstable factor of the control system or an error of the control system,
The automatic extension control can be forcibly stopped prior to the automatic control by the operator's will. If the automatic control start switch 41 is closed and a signal is input again after the automatic overhang control is forcibly stopped by the automatic control stop switch 42, the automatic vehicle leveling control is interrupted. The cause can be safely checked by manual operation or the like.

[Brief description of the drawings]

FIG. 1 is a view showing a crane truck to which each embodiment of the present invention is applied, (A) is a side view, and (B) is a front view.

FIG. 2 is a hydraulic circuit diagram of an outrigger in FIG.

FIG. 3 is a control block diagram showing a first embodiment of an outrigger automatic extension device for a work vehicle according to the present invention.

FIG. 4 is a control block diagram showing a second embodiment of the outrigger automatic extension device for a work vehicle according to the present invention.

FIG. 5 is a diagram showing a change with time of the reaction force in FIGS.
(A) is an overall view, and (B) is a detailed view of a P part of (A).

6A and 6B are diagrams showing a third embodiment of an outrigger automatic extension device for a working vehicle according to the present invention, wherein FIG. 6A is a diagram showing a head cylinder oil pressure measuring device of a jack cylinder, and FIG. It is a figure showing a change.

FIG. 7 is a flowchart of a vehicle body automatic horizontal control after a tire lifting routine in a fourth embodiment of the outrigger automatic extension device for a work vehicle according to the present invention.

FIG. 8 is a flowchart of a tire lifting routine in FIG. 7;

FIG. 9 is a view showing a fifth embodiment of the outrigger automatic extension device for a working vehicle according to the present invention, and is a flowchart showing a vehicle body automatic level control after a horizontal preparation routine and a tire lifting routine.

FIG. 10 is a flowchart of a horizontal preparation routine in FIG. 9;

FIG. 11 is a view showing an eighth embodiment of the outrigger automatic extension device for a working vehicle according to the present invention.

FIG. 12 is an outrigger automatic extension control block diagram of the first conventional technique.

FIG. 13 is a view showing a flowchart of a vehicle body automatic leveling control of the first prior art.

FIG. 14 is a diagram showing a pressure control routine of the first related art.

FIG. 15 is a diagram showing a horizontal preparation routine of the first related art.

16A and 16B are diagrams showing a second related art, wherein FIG. 16A is a side view of a vehicle, and FIG. 16B is a hydraulic circuit for outrigger automatic extension control.

FIG. 17 is a diagram showing the change over time of the jack cylinder oil pressure of each prior art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Lower traveling body 1a Body 2 Upper revolving body 3 Boom 4 Operator's cab 5 Outrigger 6 Outrigger arm 7 Jack cylinder 7a Piston rod 8 Float 9a Engine 9b Hydraulic pump 10 Outrigger selection valve 11 Jack individual control valve 12 Arm slide cylinder 13 Double check valve 15 Two-axis tilt angle sensor (horizontal sensor) 17, 27 Oil pressure sensor 19 Automatic setting switch 20, 30, 40 Controller 21, 31 Input unit 22 First calculation unit 23 First determination unit 24 Second calculation unit 25 Second determination unit 26, 36 output unit 34 third calculation unit 35 third determination unit 41 automatic control start switch 42 automatic control stop switch

Claims (11)

[Claims] 1. A jack cylinder for driving a plurality of outriggers installed in a work vehicle, a jack individual control valve for individually supplying pressure oil to each jack cylinder, and a pressure oil for each jack individual control valve. A supply source of pressurized oil,
In an outrigger automatic extension device for a work vehicle comprising a reaction force sensor for detecting an outrigger reaction force with respect to the ground of each outrigger, a reaction force signal detected by the reaction force sensor is input every predetermined time, and the outrigger reaction force value The rate of change with respect to time is calculated, and when the rate of change is equal to or less than a predetermined set value and the outrigger reaction force value is equal to or more than a predetermined set value, it is determined that the tire is floating, and the jack individual control is performed. An outrigger automatic extension device for a working vehicle, comprising a tire lifting controller that outputs a closing command to a valve. 2. A jack cylinder for driving a plurality of outriggers installed in a work vehicle, a jack individual control valve for individually supplying pressure oil to each jack cylinder, and a pressure oil for each jack individual control valve. A supply source of pressurized oil,
In an automatic outrigger extension device for a work vehicle, comprising a reaction force sensor for detecting an outrigger reaction force with respect to the ground of each outrigger, an outrigger reaction force signal detected by the reaction force sensor is input every predetermined time, and the outrigger reaction force value The change rate with respect to time, and the increase / decrease of this change rate with respect to time are calculated, and it is determined that the tire is floating when the change rate is equal to or less than a predetermined set value and the change rate decreases with respect to time. An outrigger automatic extension device for a working vehicle, further comprising a tire lifting controller that outputs a closing command to the jack individual control valve. 3. The outrigger automatic extension device for a working vehicle according to claim 1, wherein
A body level sensor for detecting the level of the body, and a body level controller for outputting a body level control signal to each jack individual control valve in accordance with a detection signal of the body level sensor; Supplying pressurized oil to each jack cylinder to ground all outriggers until the value becomes a predetermined value, and after performing automatic vehicle level control by the vehicle level control controller, the vehicle body is maintained horizontal.
An outrigger automatic extension device for a work vehicle, wherein a predetermined amount of pressurized oil is simultaneously supplied to each jack cylinder to perform tire lifting control for all of a plurality of outriggers. 4. An automatic outrigger extension device for a work vehicle according to claim 1, wherein the vehicle body level sensor detects a level of the vehicle body, and the vehicle body level sensor detects the level of the vehicle body according to a detection signal of the vehicle body level sensor. And a vehicle body horizontal control controller that outputs a vehicle body automatic level control signal to each jack individual control valve for controlling the horizontal level, and supplies pressure oil to each jack cylinder until the detection value of each reaction force sensor becomes a predetermined value. After all the outriggers are grounded, while automatically controlling the vehicle body by the vehicle body level control controller, each jack cylinder is jacked up until all tires of the plurality of outriggers are determined by the tire floating control controller. Outrigger automatic extension device for work vehicles. 5. The outrigger automatic extension device for a working vehicle according to claim 1, wherein
A body level sensor that detects the level of the body, and a body level control controller that outputs a body level control signal for jacking up each jack cylinder to each jack individual control valve according to a detection signal of the body level sensor, When the tire lifting control controller determines that the tires have floated for all of the plurality of outriggers, a closing command is output to the jack individual control valve to stop the jacking of each jack cylinder, and then the vehicle body horizontal control controller controls the vehicle body. An automatic outrigger device for a work vehicle, which performs automatic leveling control. 6. A pressure oil is supplied to each jack cylinder until the detection value of each reaction force sensor reaches a predetermined value before the tire lifting control is started by the tire lifting controller. An outrigger automatic extension device for a work vehicle, wherein all outriggers are grounded, and the vehicle body level control controller performs automatic body level control. 7. A jack cylinder for driving a plurality of outriggers installed in a work vehicle, a jack individual control valve for individually supplying pressure oil to each jack cylinder, and a pressure oil for each jack individual control valve. A supply source of pressurized oil,
In an outrigger automatic extension device for a work vehicle comprising a pressure sensor for detecting a head pressure of each jack cylinder,
When the head pressure detected by the pressure sensor is substantially zero, it is determined that the outrigger is in contact with the ground, and the jack individual control valve is closed. 8. A jack cylinder for driving a plurality of outriggers installed in a work vehicle, a jack individual control valve for individually supplying pressure oil to each jack cylinder, and a pressure oil for each jack individual control valve. A supply source of pressurized oil,
A body level sensor for detecting the level of the body, a hydraulic sensor for each jack cylinder, and a body for outputting a body level control signal to each jack individual control valve in accordance with each detection signal of the body level sensor and the oil pressure sensor An outrigger automatic extension device for a work vehicle including a horizontal control controller and an automatic control activation switch for activating the vehicle body horizontal control controller, comprising an automatic control stop switch that outputs a signal for stopping automatic control by the vehicle body horizontal control controller. An outrigger automatic overhanging device for a working vehicle, characterized in that: 9. The vehicle body automatic level control according to claim 8, wherein the vehicle body level control controller receives a signal for stopping automatic control from an automatic control stop switch, or receives a signal again from an automatic control start switch. The outrigger automatic overhanging device for a working vehicle, characterized in that the work is suspended. 10. An outrigger automatic extension method for a work vehicle in which each jack cylinder driving a plurality of outriggers installed in the work vehicle is extended to drive each jack cylinder up to control the vehicle body horizontally. An outrigger automatic extension method for a working vehicle, wherein the outrigger automatic extension control is stopped by a signal from outside the driver's seat during the extension control. 11. The outrigger automatic extension control according to claim 10, wherein the outrigger automatic extension control is stopped by a signal from the outside of the driver's seat, or the automatic control start switch that has started the outrigger automatic extension control is pressed again. A method for automatically extending an outrigger of a working vehicle, comprising: