JPH11171477A - Automatic horizontal forming device available in vehicle with outrigger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic horizontal forming device capable of automatically forming a vehicle into horizontality for safety operation's sake. SOLUTION: This automatic horizontal forming device is provided with a biaxial clinometer 10 detecting both vehicular roll and pitch tilt angles, set up in a vehicle, a control part 24, taking in a tilt angle signal from this biaxial clinometer 10, and delivering a control signal of an outrigger so as to make the tilt angle come to nearly 0 deg., and a hydraulic cylinder 40 adjusting the height of this outrigger by a control signal out of the control part 24, respectively, through which horizontality in the vehicle is automatically formed up.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic leveling device used for a vehicle having an outrigger, such as an aerial work vehicle or a crane truck, for automatically leveling a vehicle.

[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) Operate each of the four hydraulic valves that control the vertical length of each outrigger, lift the vehicle body, change the support of the vehicle from wheels to outriggers, and level the vehicle substantially using the level on the vehicle. put out.

[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, the installation of the outrigger by the manual operation of the conventional worker has the following problems. (1) Even if the site is on a steep slope that is not suitable for installing a vehicle, there is a risk that the outrigger may be installed without the operator noticing.

[0006] (2) Despite that the outrigger installation condition is poor and all outriggers are required to be grounded, some outriggers are not grounded and are supported only by the remaining outriggers. Or all outriggers may not receive the load almost equally. (3) When installing a vehicle on a slope, in a vehicle that is a rear wheel side brake, it is the frictional force of the rear wheel that keeps the vehicle stationary, so if you perform an operation that makes the rear wheel float first ,
There is a risk that the vehicle will start moving.

(4) The conventional device for preventing overturning by a moment limiter requires a large number of sensors. (5) Depends greatly on the skill / non-skill of the worker. SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an invention according to Claims 1 to 4 is directed to an automatic horizontal forming apparatus that automatically forms a vehicle horizontally and enables a safe operation. Its purpose is to provide.

[0008]

According to the present invention, there is provided an automatic level forming apparatus for forming a horizontal level of a vehicle used in a vehicle having an outrigger. A two-axis inclinometer that is installed in the vehicle and detects the roll inclination angle and the pitch inclination angle of the vehicle, and controls the outrigger so that the inclination angle signal from the two-axis inclinometer is taken and the inclination angle becomes substantially 0 °. It has a control unit that sends out a signal, and an actuator that adjusts the height of the outrigger according to a control signal from the control unit, and automatically forms the level of the vehicle.

According to a second aspect of the present invention, in the first aspect, the control section performs a horizontal control of a pitch inclination angle of the vehicle and then performs a horizontal control of a roll inclination angle. According to a third aspect of the present invention, in addition to the first or second aspect, a limit switch for detecting that the outrigger has reached the maximum vertical height is further provided.

The invention according to claim 4 is the one according to claims 1 to 3, further comprising a vertical load detector for detecting a vertical load applied to each outrigger.

[0011]

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 front wheels 2, 2 'for its movement.
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 interposed 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 that 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 (FIG. 3) together with the electromagnetic switching valve 27, and a hydraulic pump 36.
Oil is supplied from (FIG. 3) to the hydraulic cylinder 40 via the electromagnetic switching valve 27 (FIG. 3) through the pipe 45 or the pipe 45 ′, or the hydraulic cylinder 40 is supplied with oil via the electromagnetic switching valve 27 or the pipe 45 or the pipe. The oil returns to the oil tank through 45 ', and the switching of the electromagnetic switching valve 27 changes the operating direction of the hydraulic cylinder 40, thereby switching the expansion and contraction of the movable rod 41.

The pipe 45 is provided with a semiconductor pressure gauge 44 which is 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 expanded to the maximum, that is, for detecting that the outriggers 4 to 7 have 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.

The vehicle 1 is provided with a two-axis inclinometer 10. The two-axis inclinometer 10 detects the inclination of one axis around the XX 'axis (roll inclination) of the vehicle, and detects the inclination of the other axis.
The axis is installed so as to detect an inclination (pitch inclination) around 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. Even if the two axes of the detection axes are not integrally detected, a two-axis inclinometer is formed by using two inclinometers for detecting the inclination of one axis, and the respective detection axes are orthogonal to each other as described above. It may be installed as follows.

FIG. 3 is an overall system block diagram of the automatic horizontal forming apparatus of the present invention. The automatic horizontal forming device roughly includes the biaxial inclinometer 10 installed on the vehicle 1 and the vertical load detector 44 provided on each of the outriggers 4 to 7.
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
And a display / operation unit 25 and a hydraulic driver 26 connected to the control unit 24, and the hydraulic circuit 35 operated by the hydraulic driver 26.

The control unit 24 has a built-in CPU and memory. The memory stores the data of its own weight and the digital data sent from the A / D converters 16 and 11. The control unit 24 uses the CPU to sequentially perform predetermined calculations, output a control signal for leveling the vehicle 1 to the hydraulic driver 26, and detect a case where a fall is predicted or a dangerous state is detected. If so, an alarm signal is sent 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 control unit 24 of the automatic horizontal forming apparatus configured as described above performs the following control and calculation. 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 condition 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 takes in the 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 (a), if the mass of the vehicle 1 is 2 tons and the center of gravity is at the center of the outriggers 4 to 7, the outriggers 4 to 7 should originally receive the load of 500 kg evenly. Must. However, when the detected load from 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 go 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 to be horizontal without 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 1 from the road surface. After that, the left and right outriggers are controlled, and a control signal is sent to the hydraulic driver 26 so that the roll inclination angle becomes substantially 0 °, the height of the outriggers 4 to 7 is adjusted, and the horizontal control of the roll angle is performed. I do.

As described above, the control unit 24 performs horizontal control of the pitch inclination angle of the vehicle 1 and then performs horizontal control of the roll inclination angle. Therefore, when the control unit 24 is installed on a slope, the rear wheel (or front wheel) is controlled. It can be prevented that the vehicle starts moving without floating first. During this control,
The output of the vertical load detector 44 is detected, and whether there is any abnormality is monitored.

Furthermore, 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 movable range of the hydraulic cylinder 40 is always within the movable range. Have judged. In this way, as shown in FIG. 4, the vehicle 1 can be supported horizontally on a slope on a safe area.

(C) When the leveling work of the vehicle 1 is completed by the outrigger control of (b) and the work is started by moving the work mechanism, the control unit 24 continues to operate the vertical load detectors 44. Capture and monitor vertical load data from. When the operation of (b) is completed, the total weight of the vehicle including the load is determined by summing the vertical loads from all the vertical load detectors 44. Since the vehicle's own weight is known, the value of the load of the vehicle can be obtained by subtracting the vehicle's own weight from the sum of the vertical loads from all the vertical load detectors 44,
It is possible to determine whether or not the vehicle is overloaded. When it is determined that the weight is larger than the set weight, an alarm signal is sent to the display / operation unit 25. 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 and there is a danger of falling over. Therefore, an alarm signal is output to the display / operation unit 25, and an alarm is displayed on the display / operation unit 25. Stop 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.

[0029]

As described above, according to the first aspect of the present invention, the level of the vehicle is automatically formed by using the two-axis inclinometer. Regardless of the location, even if the installation location is not limited to flat ground,
Leveling can be performed easily and safely.

Before the outrigger is installed, the control unit takes in the inclination angle signal from the two-axis inclinometer and determines whether or not it is within the safe angle range. It is also possible to automatically determine whether or not it is on a sloping slope. According to the second aspect of the present invention, after the horizontal control of the pitch inclination angle of the vehicle is performed, the horizontal control of the roll inclination angle is performed, so that when the vehicle is installed on a slope, the rear wheel on which the parking brake acts It is possible to prevent the vehicle from moving without the front wheel (or the front wheel) floating.

According to the third aspect of the present invention, it is possible to detect by the limit switch that the maximum vertical height of the outrigger has been reached during the control of the outrigger. Safety measures can be taken. According to the invention described in claim 4,
Furthermore, since it has a vertical load detector that detects the vertical load of the outrigger, 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 always monitoring the value of the vertical load or its change, it is possible to predict in advance that the vehicle will fall. Therefore, the work range can be widened during the work, and even when an external force such as a hook is applied to the work mechanism such as the boom, the fall can be predicted in the same manner. 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.

Further, by calculating the total weight by summing the vertical loads of all the outriggers and calculating the total weight minus the vehicle weight, the working load acting on the vehicle can be obtained. Loading can be determined, and 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 the automatic horizontal forming apparatus.

FIG. 4A is a side view of the vehicle when the outrigger is installed on a slope, as viewed from the Y ′ direction, and FIG. 4B is a rear view as viewed from the X ′ direction.

[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 (4)

[Claims] 1. An automatic leveling device used for a vehicle having an outrigger to form a horizontal level of a vehicle, the device being installed in the vehicle and detecting a roll inclination angle and a pitch inclination angle of the vehicle. A control unit that receives a tilt angle signal from the two-axis inclinometer and sends outrigger control signals so that the tilt angle becomes substantially 0 °, and adjusts the height of the outriggers by a control signal from the control unit. An actuator,
And an automatic level forming device that automatically forms the level of the vehicle. 2. The automatic leveling device according to claim 1, wherein the control unit performs horizontal control of a roll tilt angle after performing horizontal control of a pitch tilt angle of the vehicle. 3. The apparatus according to claim 1, further comprising a limit switch for detecting that the outrigger has reached a maximum vertical height.
Or the automatic horizontal forming device according to 2. 4. The automatic horizontal forming device according to claim 1, further comprising a vertical load detector for detecting a vertical load applied to each outrigger.