JPH11171476A - Vehicle having detecting device for preventing overturning and outrigger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve safety of a work by providing vertical load detecting meter detecting load in the vertical direction applied to outriggers, and enabling overturning of a vehicle to be predictable from the values of vertical load detected by them or the change. SOLUTION: When an altitude working vehicle is installed in a working state, signals from a biaxial clinometer 10 are taken in, it is discriminated whether the inclination is in the safe range or not, and in the case of safety of the vehicle installed state being confirmed, respective outriggers 4-7 are operated to advance in the vehicle width direction. Next, while keeping roll inclination (inclination around X-X' axis) constant, a height regulating cylinder is driven so that pitch inclination (inclination around Y-Y' axis) becomes nearly zero, and height of the outriggers 4, 5 are regulated. At this height regulation, signals of vertical load detectors provided on the respective outriggers are taken in, and when the detected loads are extremely small, warning as defective grounding is generated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fall prevention detecting device used for a vehicle having an outrigger, such as a high work vehicle or a crane truck, and a vehicle having an outrigger.

[0002]

2. Description of the Related Art Conventionally, in a vehicle such as an aerial work vehicle or a crane truck, in order to prevent the vehicle from overturning at the time of work, the vehicle body is not supported by wheels of the vehicle, but a plurality of vehicles other than wheels are provided. A mechanism for supporting the vehicle by the outrigger is provided. After the vehicle having such an outrigger is moved to a work place, the worker performs work in the following procedure.

(1) Stop the vehicle and apply the parking brake. (2) Extend the arm of each outrigger outward in the vehicle width direction. (3) Each of the four hydraulic levers for controlling the length of each outrigger in the vertical direction is operated, and the vehicle body is lifted to change the support of the vehicle from the wheels to the outriggers, thereby making the vehicle substantially horizontal.

[0004] These series of operations are performed manually by a work vehicle while observing the road surface condition and the vehicle body condition. Conventionally, a moment limiter is provided as a device for preventing the vehicle from overturning during work.
A large number of sensors are mounted around the boom to detect the boom undulation, expansion and contraction, turning, outrigger length, and load applied to the boom, respectively, and multiply the safety factor of each sensor by the calculated safety factor to determine the working range. Is set.

[0005]

However, in the conventional moment limiter, a large number of sensors are required, and since the work range is set by multiplying the safety factor, the set work range can be really operated. There is a problem that it becomes narrower than the range. In addition, when outriggers are manually installed, some outriggers are not grounded in spite of the condition that the outriggers are grounded. It is not possible to detect a case where no load is applied or the working weight is exceeded, so that the vehicle becomes unstable, and there is a risk of the vehicle falling over depending on the outrigger installation situation.

SUMMARY OF THE INVENTION The present invention has been made in view of such problems, and an object of the present invention is to provide a fall prevention detecting device capable of widening a working range of a vehicle. It is another object of the present invention to provide a fall prevention detecting device which can easily and safely install an outrigger, in addition to the above objects.

Another object of the present invention is to provide a vehicle having an outrigger capable of widening the working range of the vehicle.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, an invention according to claim 1 is a fall prevention detecting device used in a vehicle having an outrigger to predict a fall of the vehicle. A vertical load detector for detecting the vertical load is provided, and a fall of the vehicle is predicted in advance based on a value of the vertical load output from the vertical load detector or a change thereof.

Whenever the vehicle falls, the value of the vertical load applied to the outrigger suddenly decreases. Therefore, the fall of the vehicle can be predicted in advance by capturing the value of the vertical load or the change thereof. A fall prevention detecting device according to a second aspect of the present invention is the one according to the first aspect, and further generates an alarm signal when a fall of the vehicle is predicted in advance.

[0010] In a third aspect of the present invention, there is provided a fall prevention detecting device according to the first or second aspect, further comprising a two-axis inclinometer installed on the vehicle for detecting a roll inclination angle and a pitch inclination angle of the vehicle. A control unit for receiving the tilt angle signal from the two-axis inclinometer and transmitting an outrigger control signal so that the tilt angle becomes substantially 0 °, and adjusting the outrigger height by the control signal from the control unit. And an actuator, and automatically forms the level of the vehicle.

[0011] The fall prevention detecting device according to claim 4 further includes a limit switch for detecting that the outrigger has reached the maximum vertical height. According to a fifth aspect of the present invention, in the one of the first to fourth aspects, an overload can be detected from an output of the vertical load cell.

According to a sixth aspect of the present invention, in a vehicle having a plurality of outriggers and supported by these outriggers during operation, a vertical load detecting unit detects a vertical load applied to each outrigger. It is characterized by having a meter.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a perspective view of a vehicle having an outrigger such as an aerial work vehicle or a crane truck, excluding a working mechanism such as a boom and a bucket or a crane, and shows a state during work.

The vehicle 1 has its front wheels 2, 2 '
And rear wheels 3, 3 '. Now, XX 'axis in the traveling direction of the vehicle 1, YY' axis in the vehicle width direction, and Z
Assume the −Z ′ axis. The front outriggers 4, 5 and the rear outrigger 6,
7, a total of four outriggers are provided on the vehicle 1, and the front outriggers 4, 5 are respectively disposed between the front wheels 2, 2 'and the rear wheels 3, 3' of the vehicle, one each on the left and right, The rear outriggers 6 and 7 are respectively disposed one position each on the left and right behind the rear wheels 3 and 3 ′ of the vehicle. Each outrigger 4, 5,
6, 7 are YY 'direction arms 4a, 5a, 6a, 7a which extend roughly in the YY' direction so as to be extendable and contractable;
A ZZ ′ direction arm 4b that extends and contracts in the Z ′ direction,
5b, 6b and 7b.

FIG. 2 shows a detailed view of one ZZ 'direction arm 4b. Note that the other ZZ ′ direction arms 5b, 6b,
7b has the same structure. ZZ 'direction arm 4b
Is a hydraulic cylinder 40 which is an actuator having a movable rod 41, a grounding table 42 in contact with the ground, and is inserted between one end of the movable rod 41 and the grounding table 42 so that the movable rod 41 Ball 4 that can be tilted freely
It consists of three. The reason why the grounding table 42 and the movable rod 41 are tiltably supported by the ball 43 is to prevent a lateral load from acting on the movable rod 41 even when the vehicle is grounded on an inclined ground. Pipes 45 and 45 ′ are connected to the hydraulic cylinder 40. The hydraulic cylinder 40 and the pipes 45 and 45 ′ constitute a hydraulic circuit 35 together with the electromagnetic switching valve 27 (FIG. 3).
6 (FIG. 3), oil is supplied to the hydraulic cylinder 40 through the pipe 45 or the pipe 45 ′ via the electromagnetic switching valve 27, or the hydraulic switching valve 27 is supplied from the hydraulic cylinder 40.
The oil returns to the oil tank through the pipe 45 or the pipe 45 ′ via the valve. By switching the electromagnetic switching valve 27, the operating direction of the hydraulic cylinder 40 is changed, and the expansion and contraction of the movable rod 41 is switched.

The pipe 45 is provided with a semiconductor pressure gauge 44 as a vertical load detector. This semiconductor pressure gauge 44
It detects the deformation of the diaphragm caused by the pressure acting on the surface of the built-in diaphragm as a change in resistance value, has a bridge circuit inside, and detects the pressure in the pipe 45 by converting it into a voltage. Since the load in the ZZ ′ direction acting on the movable rod 41 and the hydraulic pressure are balanced, a vertical (ZZ ′ direction) load acting on the movable rod 41 can be detected by the semiconductor pressure gauge 44. . In this embodiment, the semiconductor pressure gauge is used as the vertical load detector. However, the present invention is not limited to this. For example, a load cell may be installed in the ZZ ′ direction of the hydraulic cylinder 40 and one end of the hydraulic cylinder 40 may be installed. , The other end is outrigger 4 ~
7 may be attached to the YY direction arms 4a to 7a.

Each of the outriggers 4 to 7 is provided with a limit switch 20 for detecting that the movable rod 41 has been maximally extended, that is, for detecting that the outriggers 4 to 7 have reached the maximum vertical height. Can be In FIG. 2, the limit switch 20 includes a magnet (not shown) embedded in the movable rod 41, a Hall element 46 fixed to the hydraulic cylinder 40, and a waveform shaping circuit 47. This is because the magnet is detected by the Hall element 46 at the position where the movable rod 41 is maximally extended, and the output voltage from the Hall element 46 is changed by the waveform shaping circuit 47.
And outputs it after shaping it into a rectangular wave. However, the limit switch is not limited to this, and has a configuration in which a movable rod is provided at both ends of the hydraulic cylinder. And the movable rod can be arranged such that the protrusion operates the switch at a position where the grounding rod side of the movable rod is maximally extended.
Alternatively, the limit switch may be constituted by a stroke sensor using a mainspring and a potentiometer.

In the present embodiment, the vehicle 1 is provided with a two-axis inclinometer 10 (FIG. 3). The two-axis inclinometer 10
One axis is the inclination around the XX 'axis of the vehicle (roll inclination)
And another axis is installed to detect the inclination (pitch inclination) about the YY ′ axis of the vehicle.
The inclinometer detects the displacement of the pendulum due to the gravitational acceleration acting on the pendulum, and uses the electromagnetic force generated by passing a current through the coil between the coil provided on the pendulum and the magnet installed on the inclinometer casing to generate the pendulum. A servo-type accelerometer that detects the magnitude of the gravitational acceleration by returning to the original displacement state can be used. However, the inclinometer is not limited to such an accelerometer, and a known inclinometer such as one using an electrolytic solution or one using an eccentricity can be used. Further, even if the two detection axes are not detected integrally,
A two-axis inclinometer may be configured by using two inclinometers that detect the inclination of the axis, and the detection axes may be installed so as to be orthogonal as described above.

FIG. 3 is a block diagram of the entire system of the fall prevention detecting device. The fall prevention detecting device roughly includes the vertical load detector 44 provided on each of the outriggers 4 to 7 and the two-axis inclinometer 10 installed on the vehicle 1.
A / D converters 16 and 11 for converting these analog output signals into digital signals, the limit switch 20 provided for each of the outriggers 4 to 7, and an A / D converter 1
Digital signal from 6, 11 and limit switch 20
, A display / operation unit 25 and a hydraulic driver 26 connected to the control unit 24, and a hydraulic circuit 35 operated by the hydraulic driver 26
And

The control unit 24 has a built-in CPU and memory. The memory stores the data of the weight and the center of gravity of the vehicle 1 and the digital data sent from the A / D converters 16 and 11. Then, the control unit 24 sequentially performs a predetermined calculation using the CPU, outputs a control signal corresponding to the result to the hydraulic driver 26, and when a fall is predicted or a dangerous state is detected. Sends an alarm signal to the display / operation unit 25.

A hydraulic driver 26 connected to the control unit 24
Drives the hydraulic cylinder 40 by operating the four outriggers 4 to 7 separately by the electromagnetic switching valve 27 according to a control signal from the control unit 24. An operation / display unit 25 also connected to the control unit 24 is for operating the control unit 24 by an operator or displaying various data from the control unit 24 to the operator. It functions as an interface. For example, when an alarm signal is received from the control unit 24, an alarm is displayed.

The operation of the overturning detecting device configured as described above will be described. FIG. 4 is a side view of the vehicle, showing the forces acting on the vehicle. In the drawing, Q represents the own weight of the vehicle 1 acting on the center of gravity of the vehicle itself, and P represents a combined load such as a work mechanism and a load of luggage. Q is constant once the vehicle is determined, but P changes the coordinate position and size of the action point depending on the work state. On the other hand, the vertical reaction forces F1, F2, F3, F4 generated in the four outriggers 4 to 7 (of which F2 and F4 are not visible in the figure because they are the reaction forces of the outriggers 5, 7 on the opposite surfaces of the vehicle) It is balanced with the loads of P and Q described above.

When the moment generated by the vertical reaction forces F1 to F4 and the resultant moment of P and Q are not balanced, the vehicle falls. That is, in order for the vehicle not to fall,

[0024]

(Equation 1) Must be established. Here, M _P and M _Q is the horizontal distance from the load moment of P and Q, Li is the reference position of each outrigger 4-7 from an arbitrary reference position.

When the vehicle falls, the vehicle XX '
In either the direction or the YY ′ direction, equation (2)
Should be the left side of the right side. If the vertical load abnormally decreases or increases, it can be determined that a fall is a sign of a fall. Therefore, if the vertical load detector 44 detects the vertical load of each of the outriggers 4 to 7, the fall can be predicted in advance.

Based on the above principle, the control unit 24
The following control and calculation are performed. It is assumed that the vehicle is a rear wheel side brake. (a) The signal from the two-axis inclinometer 10 is fetched, it is determined whether or not the tilt angle is within a safe range, and it is determined whether or not the vehicle installation site is safe for work. For example, if the inclination angle of one axis exceeds the safe angle, the subsequent work is regarded as dangerous, an alarm signal is output to the display / operation unit 25, and the display / operation unit 25 performs an alarm display. Terminate without performing the following operations.

(B) Next, if the inclination angle is within the safe range and the safety of the vehicle installation situation is confirmed, each outrigger 4
~ 7 are extended horizontally in the vehicle width direction, and then the roll inclination angle (X-
The front outriggers 4 and 5 on the front wheel side are controlled while keeping the X ′ axis tilt angle constant, and the pitch tilt angle (YY ′) is controlled.
The control signal is sent to the hydraulic driver 26 so that the inclination angle around the axis is substantially 0 °. Thereby, the electromagnetic switching valves 27 are switched, the hydraulic cylinders 40 of the outriggers 4 and 5 are driven, and the height adjustment of the outriggers 4 and 5 is performed.

While performing this control, the control unit 24 captures a signal from each vertical load detector 44, and the detected vertical load is not extremely smaller or larger than the reference load acting on each outrigger. Monitor for any. For example, during the control of the above (a), when the resultant force load of P + Q is 2 ton and the center of gravity is at the center of the outriggers 4 to 7,
Essentially, each of the outriggers 4 to 7 must receive a load of 500 kg evenly. However, when the load detected by the vertical load detector 44 of one outrigger is extremely small, the outrigger may not be in contact with the road surface, or the road surface condition may be poor, and the outrigger may be over the road surface. Conceivable. In such a case, the control unit 24 determines that the detected load from the vertical load detector 44 is out of the predetermined range, for example, 500
Judgment of outside of kg ± 50% and display alarm signal
The output is output to the operation unit 25, an alarm is displayed on the display / operation unit 25, and the control of the outriggers 4 to 7 is stopped.

Next, after the pitch inclination angle is controlled horizontally without any abnormality, the roll inclination angle is horizontally controlled. In this control, the outrigger is first extended and stopped for each of the rear outriggers 6 and 7 on the rear wheel side until the two-axis inclinometer 10 detects a change in roll inclination angle. At this time,
A change in the load of the vertical load detector 44 of the controlling outrigger is also detected. After the above-mentioned control is completed for the two rear-wheel outriggers 6 and 7, all four outriggers are simultaneously controlled to separate the vehicle from the road surface. After that, the right and left outriggers are controlled, and a control signal is sent to the hydraulic driver 26 so that the roll tilt angle becomes approximately 0 °, the height of the outriggers 4 to 7 is adjusted, and the horizontal roll tilt angle is adjusted. Perform control. Even during this control, the output of the vertical load detector 44 is constantly detected, and whether or not there is any abnormality is monitored as described above.

Further, while controlling the outriggers 4 to 7, the presence or absence of a contact signal from the limit switch 20 provided on each of the outriggers 4 to 7 is checked to determine whether the hydraulic cylinder 40 is always in the movable range. Have judged. (c) When the leveling work of the vehicle is completed by the outrigger control of (b), and then the work is started by moving the work mechanism, the control unit 24 continues the vertical load from each of the vertical load detectors 44. Capture and monitor data.

Since the own weight Q of the vehicle is known in advance, (b)
Is completed, the value of P can be determined by using the above equation (1) by summing the vertical loads from all the vertical load detectors 44. Therefore, by sequentially determining the value of P, it is possible to determine whether or not the vehicle is overloaded. If it is determined that P is larger than the set work weight, an alarm signal is displayed on the display / operation unit 25. Send to Thus, it is possible to prevent the working weight from being excessive.

The control unit 24 monitors whether the detected load from each of the vertical load detectors 44 is abnormally reduced or increased. If it is abnormally decreased or increased, it indicates an abnormal movement of the load P, and there is a danger of falling. Therefore, an alarm signal is output to the display / operation unit 25, and an alarm is displayed on the display / operation unit 25. To stop the work. In this way, by stopping the operation before the vertical load of any of the outriggers 4 to 7 becomes 0, it is possible to prevent a fall. To determine if it is abnormally decreasing or increasing,
This can be performed based on a change in the detected load from the vertical load detector 44 from a reference value, or on whether or not the change rate of the detected load has become larger than a predetermined value.

As described above, the fall can be predicted by monitoring the vertical load detectors 44 of the outriggers 4 to 7.
It is sufficient to provide the same number of sensors as the number of outriggers, and it is not necessary to provide a large number of sensors. Since the fall prediction is performed directly, the work range can be widened.

[0034]

As described above, according to the first aspect of the present invention, the vertical load detector for detecting the vertical load of the outrigger is provided, and the value of the vertical load output from the vertical load detector is provided. Alternatively, it is determined in advance that the vehicle has fallen according to the change, so that the fall can be directly detected and the working range of the vehicle can be widened.
Also, since the vertical load detectors need only be provided by the number of outriggers, there is no need to provide a large number of sensors. In addition, since the fall prediction is performed by the vertical load detector that detects the vertical load of the outrigger, the fall prediction can be similarly performed even when an external force such as a hook is applied to a working mechanism such as a boom.

According to the second aspect of the present invention, it is possible to notify the worker of the danger of falling by generating an alarm signal, and to stop the work mechanism if necessary. Work safely. According to the third aspect of the present invention, since the vehicle is automatically leveled using the two-axis inclinometer, the leveling can be easily performed regardless of the skill of the operator or the unskilledness of the worker. be able to.

According to the fourth aspect of the present invention, the fact that the maximum vertical height of the outrigger has been reached can be detected by the limit switch during the control of the outrigger. In this case, the control is stopped. , You will be able to take appropriate safety measures. According to the fifth aspect of the present invention, the total load is calculated by summing the vertical loads of all the outriggers, and the weight obtained by subtracting the vehicle weight from the total weight is obtained. Since it can be obtained, overloading can be determined and work can be performed safely.

According to the sixth aspect of the present invention, each outrigger is provided with a vertical load detector for detecting the vertical load of the outrigger, so that the value of the vertical load or its change is monitored. This makes it possible to predict in advance that the vehicle will fall. Therefore, the working range can be widened, and the vertical load detectors need only be provided by the number of outriggers, so that it is not necessary to provide a large number of sensors. Further, even when an external force such as a hook is applied to a working mechanism such as a boom, a fall can be predicted in the same manner.

Further, during installation of the outrigger, by detecting and monitoring the vertical load from the vertical load detector,
It is possible to prevent the outrigger from being out of contact with the ground or being pulled off from the road surface. further,
By calculating the total weight by summing the vertical loads of all outriggers and calculating the total weight minus the vehicle weight, the working load acting on the vehicle can be determined. Work can be performed safely.

[Brief description of the drawings]

FIG. 1 is a perspective view of a vehicle having an outrigger such as an aerial work vehicle or a crane vehicle, excluding a working mechanism such as a boom or a bucket or a crane.

FIG. 2 is a side view showing details of a ZZ ′ direction arm of an outrigger.

FIG. 3 is an overall system block diagram of a fall prevention detecting device.

FIG. 4 is a side view of the vehicle for explaining the principle of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Vehicle 4-7 Outrigger 10 2-axis inclinometer 20 Limit switch 24 Control part 40 Hydraulic cylinder (actuator) 44 Semiconductor pressure gauge (vertical load detector)

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Akio Mito 2-16-46 Minami Kamata, Ota-ku, Tokyo Inside Tokimec Co., Ltd.

Claims (6)

[Claims] 1. A fall prevention detecting device for use in a vehicle having an outrigger and for predicting a fall of the vehicle, comprising: a vertical load detector for detecting a vertical load applied to the outrigger; A fall prevention detecting device that predicts a fall of a vehicle in advance based on a value of the output vertical load or a change thereof. 2. The fall prevention detecting device according to claim 1, wherein an alarm signal is generated when a fall of the vehicle is predicted in advance. 3. A two-axis inclinometer which is installed in the vehicle and detects a roll inclination angle and a pitch inclination angle of the vehicle, and an inclination signal from the two-axis inclinometer is taken in so that the inclination angle becomes substantially 0 °. 3. The vehicle according to claim 1, further comprising a control unit for transmitting the control signal of the outrigger, and an actuator for adjusting the height of the outrigger according to the control signal from the control unit, and automatically forming the horizontal level of the vehicle. The detecting device for overturn prevention described in the above. 4. A limit switch for detecting that the outrigger has reached a maximum vertical height.
The detection device for falling prevention described in the above. 5. The fall prevention detecting device according to claim 1, wherein overloading can be detected from the output of the vertical load cell. 6. A vehicle having a plurality of outriggers and supported by these outriggers during work, wherein each outrigger is provided with a vertical load detector for detecting a vertical load applied to the outrigger. Vehicle having an outrigger.