JP4825407B2 - Control device for work vehicle - Google Patents

Description

  The present invention controls a work vehicle provided with a grounding plate-equipped jack device having a grounding plate attached to the lower end portion of the jack and a roller-equipped jack device having a roller attached to the lower end portion of the jack at four locations on the front, rear, left and right sides of the vehicle. It relates to the device.

  As this type of work vehicle, an aerial work vehicle shown in FIGS. 11 and 12 will be described as an example. The aerial work vehicle includes a jacking device 3 with a grounding plate with a grounding plate 5 attached to the lower end of the jack 30 and a jacking device with a roller 4 with a roller 6 attached to the lower end of the jack 40. It is provided at four locations.

  The jack 30 includes a jack outer cylinder 31, a jack inner cylinder 32, and a jack driving means 33 (not shown). The jack outer cylinder 31 is arranged at four positions on the front and rear, left and right of the vehicle 1, and the jack inner cylinder 32 is arranged so that the grounding plate 5 is attached to the lower end so that it can protrude downward from the jack outer cylinder 31. The jack driving means 33 includes a hydraulic cylinder 33a disposed between both cylinders and a control valve 33b for driving and controlling the hydraulic cylinder 33a, and controls the control valve 33b to move the jack inner cylinder 32 downward from the jack outer cylinder 31. The vehicle 1 can be driven in and out, and the vehicle 1 is supported by the jack device 3 with a ground plate.

  The jack 40 includes a jack outer cylinder 41, a jack inner cylinder 42, and a jack driving means 43 (not shown). The jack outer cylinder 41 is arranged at four positions in the front, rear, left and right sides of the vehicle 1 close to the jack outer cylinder 31, and the jack inner cylinder 42 is provided with a roller 6 attached to the lower end so as to be able to protrude downward from the inside of the jack outer cylinder 41. The jack driving means 43 includes a hydraulic cylinder 43a disposed between the two cylinders and a control valve 43b for driving and controlling the hydraulic cylinder 43a. The jack inner cylinder 42 protrudes and descends from the jack outer cylinder 41 by controlling the control valve 43b. The vehicle 1 is supported by a jack device 4 with a roller.

  On the vehicle 1, the swivel base 12 is disposed so as to be able to be swiveled, and the telescopic boom 13 is disposed on the swivel base 12 so as to be able to drive up and down, and the work table 14 can be swung at the tip of the telescopic boom 13 It is arranged.

  The aerial work vehicle configured in this manner stops the vehicle 1 at a predetermined position, and supports the vehicle 1 on the ground G at the position by the jack device 3 with a ground plate, and appropriately extends and retracts the swivel base 12 and the telescopic boom 13. When working at a so-called fixed position where the work table 14 is moved up and down to move to a desired height position (state shown in FIG. 11), the vehicle 1 is supported by the roller-equipped jack device 4. There is a case where a so-called traveling movement is performed in a so-called traveling movement in which the vehicle 1 is moved while the vehicle 11 is moved with the work table 14 being positioned at a high position.

By the way, when a tilt angle detector for detecting a tilt angle is arranged in the vehicle and the vehicle 1 is supported by the roller-equipped jack device 4 to perform a high-altitude work by so-called traveling movement, the vehicle 1 is predetermined depending on the state of the ground. The inclination angle detector detects that the vehicle is tilted as described above, stops the alarm and the driving of the swivel base 12 and the telescopic boom 13 or stops the driving of the vehicle 1 and the vehicle 1 runs away (the tire of the wheel 11 slips on the ground). A technique for preventing safety and ensuring safety is known. (See, for example, cited document 1)
JP-A-8-295499 (2nd page, FIG. 1)

However, although the above-mentioned known technology includes the jack device with a roller 4 but does not include the above-described jack device with a ground plate 3, the above-described known technology is a high-level device including the jack device with a ground plate 3 and the jack device with a roller 4. The following inconvenience arises when it is applied to a work vehicle. That is, when the vehicle 1 is supported by the jack device 3 with a ground plate, there are cases where it is necessary to work without being able to install the vehicle 1 horizontally. (For example, when the stroke of the jack 40 is not enough depending on the ground condition, and the horizontal setting cannot be performed even if it is supplemented with a supplementary plate between the ground plate 5 and the ground.) If the vehicle 1 is tilted more than a predetermined angle, an alarm sounds and the operation for moving the work table 14 is prohibited. Therefore, the alarm is noisy and the swivel base 12 and the telescopic boom 13 cannot be driven. There arises a problem that the table 14 cannot be moved and cannot be operated.

  It is an object of the present invention to provide a work vehicle control apparatus that solves such problems.

  In order to achieve the above object, according to the first aspect of the present invention, there is provided a work vehicle control device comprising: a jack device with a ground plate having a ground plate attached to a lower end portion of the jack; and a roller attached to the lower end portion of the jack. A jack device with a roller is provided at four locations on the front, rear, left and right sides of the vehicle, selecting means for selecting either one of the jack devices, a jack driving means for driving each jack device, and receiving a selection signal from the selecting means Inclined angle detection for detecting the inclination angle of the vehicle in a work vehicle provided with a control means for driving the jack driving means of the jack apparatus, and supporting the vehicle with the jack apparatus selected by the selection means And a notification means for receiving and notifying the notification signal, and the control means receives the signals from the inclination angle detection means and the selection means and receives a selection signal from the selection means. When a jack device with a roller is selected and the inclination angle signal from the inclination angle detection means detects a predetermined first inclination angle or more, a first notification signal is output to the notification means. To do.

  According to a second aspect of the present invention, there is provided a work vehicle control device comprising: a jack device with a ground plate in which a ground plate is attached to a lower end portion of the jack; and a jack device with a roller in which a roller is attached to a lower end portion of the jack. A selection means for selecting one of the two jack devices, a jack drive means for driving each jack device, and a jack drive means for the jack device selected by receiving a selection signal from the selection means. Control means for driving the vehicle, and in a work vehicle in which the vehicle is supported by the jack device selected by the selection means, the inclination angle detection means for detecting the inclination angle of the vehicle, and a notification signal are received and notified. And a control means for receiving the signals from the tilt angle detecting means and the selecting means, the tilt angle signal from the tilt angle detecting means being equal to or greater than a predetermined first tilt angle. When outputting, the first notification signal is output to the notification unit, and when the selection signal from the selection unit selects a jack device with a ground plate, the output of the first notification signal is regulated. It is characterized by comprising.

  According to a third aspect of the present invention, there is provided the work vehicle control device according to the first or second aspect, wherein the control means selects the jack device with a grounding plate when the selection signal from the selection means selects the inclination angle detection means. When a second tilt angle greater than the predetermined first tilt angle is detected, a second notification signal is output to the notification means.

According to a fourth aspect of the present invention, there is provided a work vehicle control device comprising: a jack device with a ground plate in which a ground plate is attached to a lower end portion of the jack; and a jack device with a roller in which a roller is attached to a lower end portion of the jack. A selection means for selecting one of the two jack devices, a jack drive means for driving each jack device, and a jack drive means for the jack device selected by receiving a selection signal from the selection means. Control means for driving the vehicle, and in a work vehicle in which the vehicle is supported by the jack device selected by the selection means, the inclination angle detection means for detecting the inclination angle of the vehicle, and a notification signal are received and notified. An informing means for supporting the vehicle by the jack device with a ground plate, and a jack ground detecting means with a ground plate for detecting the ground of the jack device with the ground plate, The control means receives a signal from the inclination angle detection means and outputs a first notification signal to the notification means when the inclination angle signal detects a predetermined first inclination angle or more. When the grounding of the jack device with the grounding plate is detected, the output of the first notification signal is restricted.

According to a fifth aspect of the present invention, there is provided the work vehicle control device according to the fourth aspect , wherein the control means receives a signal from the jack ground detecting means with ground plate, detects the ground of the jack device with the ground plate, and tilts. When the inclination angle signal from the angle detection means detects a second inclination angle larger than a predetermined first inclination angle, a second notification signal is output to the notification means. .

According to a sixth aspect of the present invention, there is provided a work vehicle control device comprising: a jack device with a ground plate in which a ground plate is attached to a lower end portion of the jack; and a jack device with a roller in which a roller is attached to a lower end portion of the jack. A selection means for selecting one of the two jack devices, a jack drive means for driving each jack device, and a jack drive means for the jack device selected by receiving a selection signal from the selection means. Control means for driving the vehicle, and in a work vehicle in which the vehicle is supported by the jack device selected by the selection means, the inclination angle detection means for detecting the inclination angle of the vehicle, and a notification signal are received and notified. Notification means, a jack ground detection means with a roller for supporting the vehicle by the jack device with roller and detecting grounding of the jack device with roller, and with the ground plate A jack ground detection means with a ground plate for supporting the vehicle by the jack device and detecting the ground of the jack device with the ground plate is disposed, and the control means includes an inclination angle detection means, a jack ground detection means with a roller, and a jack with a ground plate. When a signal from the ground detection means is received, the signal from the inclination angle detection means detects a predetermined first inclination angle or more, and the signal from the roller ground contact detection means detects the grounding of the roller jack apparatus. 1 notification signal is output to the notification means, the signal from the inclination angle detection means detects a second inclination angle larger than a predetermined first inclination angle, and the signal from the jack ground detection means with grounding plate is the ground plate. When the grounding of the attached jack device is detected, a second notification signal is output to the notification means.

  Since the control device for a work vehicle according to the first aspect of the present invention is configured as described above, when the roller-equipped jack device is selected by the selection means and the vehicle is supported by the roller-equipped jack device. When the vehicle reaches a predetermined first inclination angle or more, the control means outputs a first notification signal to the notification means to notify the vehicle, so that the vehicle can be prevented from running away and safety can be ensured. In addition, when the vehicle is supported by the jack device with the ground plate, since the selection means does not select the jack device with the roller even if the predetermined first inclination angle or more is detected, the control means first informs the notification means. No notification signal is output. Therefore, when the vehicle is supported by the jack device with the ground plate, it is possible to eliminate the fact that the alarm is noisy or the work vehicle cannot work.

  Since the control device for a work vehicle according to the second aspect of the present invention is configured as described above, when the vehicle reaches a predetermined first inclination angle or more, the control means sends a first notification signal to the notification means. Is output and notified, so that the vehicle can be prevented from running away when the jack device with roller is selected by the selection means and the vehicle is supported by the jack device with roller, and safety can be ensured. Further, when the vehicle is supported by the jack device with a ground plate, the control means selects the jack device with the ground plate even if a predetermined first inclination angle or more is detected. 1 The output of the notification signal is restricted. Therefore, when the vehicle is supported by the jack device with the ground plate, it is possible to eliminate the fact that the alarm is noisy or the work vehicle cannot work.

  Since the control device for the work vehicle according to the third aspect of the present invention is configured as described above, the jack device with the ground plate is selected by the selection means, and the vehicle is supported by the jack device with the ground plate. When the vehicle has a second inclination angle larger than the predetermined first inclination angle, the control means outputs a second notification signal to the notification means so that the vehicle is supported by the jack device with a ground plate. In some cases, dangerous work can be avoided and safety can be ensured.

Since the control device for a work vehicle according to the fourth aspect of the present invention is configured as described above, when the vehicle has a predetermined first inclination angle or more, the control means sends a first notification signal to the notification means. Is output and informed, so that when the vehicle is supported by the roller-equipped jack device, the vehicle can be prevented from running away and safety can be ensured. In addition, when the vehicle is supported by the jack device with the ground plate, if the ground detection device detects the ground even if the inclination angle equal to or greater than the predetermined first inclination angle is detected, the control device notifies the notification device. The output of the first notification signal is restricted. Therefore, when the vehicle is supported by the jack device with the ground plate, it is possible to eliminate the fact that the alarm is noisy or the work vehicle cannot work.

Since the work vehicle control device according to the fifth aspect of the present invention is configured as described above, the control means detects a second inclination angle larger than a predetermined first inclination angle and detects the grounding plate. When the attached jack grounding detecting means detects the grounding, the control means outputs a second notification signal to the notification means to notify the safety means, and even when the vehicle is supported by the jack device with the grounding plate, dangerous work can be avoided and safe. Can be secured.

The control device for a work vehicle according to the sixth aspect of the present invention is configured as described above. Therefore, when the vehicle is supported by the roller-equipped jack device and the roller-grounded jack ground detecting means detects the ground, When the control unit detects a tilt angle equal to or greater than the first tilt angle, the control unit outputs the first notification signal to the notification unit to notify the vehicle, thereby preventing the vehicle from running away and ensuring safety. Further, when the second tilt angle larger than the predetermined first tilt angle is detected while the vehicle is supported by the jack device with the ground plate and the jack ground detection means with the ground plate detects the ground contact, the control means notifies the notification means. 2 Since a notification signal is output and notified, dangerous work can be avoided and safety can be ensured even when the vehicle is supported by a jack device with a ground plate.

  Hereinafter, an embodiment of a control device for a work vehicle according to the present invention will be described with reference to FIGS. 1 to 10 as an example when applied to an aerial work vehicle shown in FIGS. 11 and 12. Accordingly, the reference numerals shown and described in FIG. 11 and FIG.

(First embodiment)
An embodiment of the present invention corresponding to claim 1 is shown in FIG. 1 and will be described below. Reference numeral 19 denotes operation means for outputting an operation signal 19a for controlling each control valve 33b or 43b of each jack drive means 33 or 43. Reference numeral 20 denotes selection means for selecting which of the jack device 4 with roller or the jack device 3 with grounding plate is driven by the operation means 19 to support the vehicle 1 and outputs a selection signal 20a. Reference numeral 21 denotes an inclination angle detection means that is attached to the vehicle 1 and detects the inclination angle of the entire circumference of the vehicle 1, and outputs the detected inclination angle as an inclination angle signal 21a. 22 is a notification means for operating the alarm device, and operates upon receiving the first notification signal 22a. In addition, this alerting | reporting means 22 may be made to alert | report an operator by stopping the drive of the turntable 12 and the expansion-contraction boom 13, or stopping the driving | running | working drive of the vehicle 1. FIG.

  Reference numeral 50 denotes a control means having the following functions. That is, the control means 50 receives the selection signal 20a from the selection means 20, and outputs the control signal 19a from the operation means 19 to the control valve 33b or the control valve 43b on the side selected by the selection means 20. For example, when the vehicle 1 is supported by the jack device 3 with a ground plate, the selection device 20 selects the jack device 3 with the ground plate to operate, and outputs an operation signal 19a from the operation device 19 to the control valve 33b. To do. Then, the ground plate 5 of the jack 30 is installed on the ground G, and the vehicle 1 is supported by the jack device 3 with a ground plate.

  Further, when the vehicle 1 is supported by the roller-equipped jack device 4, the selection means 20 selects the roller-equipped jack device 4 to operate, and an operation signal 19 a from the operation means 19 is output to the control valve 43 b. And the roller 6 of the jack apparatus 4 with a roller is installed in the ground G, and a vehicle is supported by the jack apparatus 4 with a roller.

  Further, the control means 50 receives the inclination angle signal 21a from the inclination angle detecting means 21, and determines whether or not the detected inclination angle has detected a predetermined first inclination angle (for example, 3 °) or more. When the selection signal 20a of the selection means 20 selects the jack device 4 with roller and the inclination angle signal 21a from the inclination angle detection means 21 is equal to or greater than a predetermined first inclination angle, the first notification signal 22a is notified. Output to means 22.

  Next, even if the control means 50 determines that the inclination angle signal 21a from the inclination angle detection means 21 has detected a predetermined first inclination angle or more, the selection means 20 causes the jack device 3 with grounding plate to be moved. If it is selected, the first notification signal 22 a is not output to the notification means 22.

  Therefore, when the vehicle 1 becomes higher than a predetermined first inclination angle when performing a high-altitude work by so-called traveling movement in which the vehicle 1 is supported by the roller-equipped jack device 4, the notification means 22 is notified. Therefore, the vehicle 1 can be prevented from running away and safety can be ensured. In addition, when performing work at a high place in a so-called fixed position where the vehicle is supported by the jack device 3 with a grounding plate, the selection means 20 can be used even if a predetermined first inclination angle or more is detected. Is not selected, the notification means 22 does not notify it. Therefore, when the vehicle 1 is supported by the jack device 3 with the ground plate, it is possible to eliminate the fact that the alarm is noisy.

  When the notification means 22 stops the driving of the swivel base 12 and the telescopic boom 13 or stops the traveling drive of the vehicle 1 to notify the operator, the jack device 3 with a ground plate is used for the vehicle 1. It is possible to eliminate the fact that the operation cannot be performed by stopping the driving when the motor is supported.

(Second Embodiment)
An embodiment of the present invention corresponding to claim 2 is shown in FIG. 2 and described below. The embodiment illustrated in FIG. 2 is different from the embodiment illustrated and described in FIG. 1 only in the control means 60 and the other components are the same. A description of the components is omitted. The control means 60 receives the inclination angle signal 21a from the inclination angle detection means 21, and determines whether or not the detected inclination angle has detected a predetermined first inclination angle (for example, 3 °) or more. When the tilt angle signal 21a from the tilt angle detection means 21 detects a predetermined first tilt angle (for example, 3 °) or more, the control means 60 outputs the first notification signal 22a to the notification means 22. However, if the control means 60 determines that the selection signal 20a of the selection means 20 has selected the jack device 3 with the ground plate, the control means 60 regulates the output of the first notification signal 22a and outputs the first notification signal 22a. It is not output to the notification means 22.

  Therefore, when the vehicle 1 becomes equal to or greater than the predetermined first inclination angle, the notification means 22 notifies the vehicle 1, so that when the vehicle 1 is supported by the roller-equipped jack device 4, the vehicle 1 can be prevented from running away and safety can be ensured. . Further, when the vehicle 1 is supported by the jack device 3 with the ground plate, the selection means 20 selects the jack device 3 with the ground plate even if a predetermined first inclination angle or more is detected. The output of the first notification signal 22a is regulated. Therefore, when the vehicle 1 is supported by the jack device 3 with the ground plate, it is possible to eliminate the fact that the alarm is noisy.

  When the notification means 22 stops the driving of the swivel base 12 and the telescopic boom 13 or stops the traveling drive of the vehicle 1 to notify the operator, the jack device 3 with a ground plate is used for the vehicle 1. It is possible to eliminate the fact that the operation cannot be performed by stopping the driving when the motor is supported.

(Third embodiment)
An embodiment of the present invention corresponding to claim 3 is shown in FIGS. 3 and 4 and will be described below. The embodiment shown in FIG. 3 is different from the embodiment shown in FIG. 1 in that a function described below is added to the control means 70. That is, whether the control means 70 receives the inclination angle signal 21a from the inclination angle detection means 21 and detects a second inclination angle whose detected inclination angle is larger than a predetermined first inclination angle (for example, 3 °). Determine whether or not. When the selection signal 20a of the selection means 20 selects the jack device 3 with the ground plate and the inclination angle signal 21a from the inclination angle detection means 21 detects the second inclination angle, the second notification signal 22b is notified. 22 to output. The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a voice warning message, or may be a change in the content of the voice warning message when the first notification signal 22a is received and when the second notification signal 22b is received.

  Further, the embodiment shown in FIG. 4 is different from the embodiment shown in FIG. 2 in that a function described below is added to the control means 80. That is, whether the control unit 80 receives the tilt angle signal 21a from the tilt angle detection unit 21 and detects a second tilt angle whose detected tilt angle is larger than a predetermined first tilt angle (for example, 3 °). Determine whether or not. When the selection signal 20a of the selection means 20 selects the jack device 3 with the ground plate and the inclination angle signal 21a from the inclination angle detection means 21 detects the second inclination angle, the second notification signal 22b is notified. 22 to output. The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a voice warning message, or may be a change in the content of the voice warning message when the first notification signal 22a is received and when the second notification signal 22b is received.

  Since the embodiment of the present invention corresponding to claim 3 is configured as described above, the jack device 3 with the ground plate is selected by the selection means 20 and the vehicle 1 is supported by the jack device 3 with the ground plate. When the vehicle 1 has a second inclination angle larger than the predetermined first inclination angle, the control means 50, 60 causes the notification means 22 to output the second notification signal 22b to notify the user, so that the jack device with a ground plate Even when the vehicle 1 is supported at 3, dangerous work can be avoided and safety can be ensured.

(Fourth embodiment)
A fourth embodiment is illustrated in FIG. 5 and described below. The embodiment shown in FIG. 5 is different from the embodiment shown in FIG. 1 in that a roller ground contact detection means 23 is added and the function of the control means 90 is changed. Since the other components are the same, the description of the other components is omitted. In addition, the control means 50 of FIG. 1 receives the signal that the selection signal 20a of the selection means 20 has selected the jack apparatus 4 with a roller, and determines that the vehicle 1 is supported by the jack apparatus 4 with a roller. However, the control means 90 does not have this function.

  The jack-with-roller detection means 23 is a means for detecting when the roller 6 of the roller-equipped jack device 4 is grounded to the ground G and supports the vehicle 1 with the roller-equipped jack device 4, and the jack outer cylinder 41 of each jack 40. And the backlash of the connecting portion that connects the hydraulic cylinder 43a (specifically, it is detected that the gap generated when the vehicle body 1 is not supported disappears when the vehicle body 1 is supported). This roller-equipped jack grounding detecting means 23 is arranged.

  The control unit 90 receives the selection signal 20a from the selection unit 20, and outputs the control signal to the control valve 33b or the control valve 43b on the side selected by the selection unit 20 from the operation signal 19a. This is the same as the embodiment. Therefore, for example, when the vehicle 1 is supported by the jack device 3 with the ground plate, the selection means 20 selects the side that operates the jack device 3 with the ground plate, and the operation signal 19a from the operation means 19 is sent to the control valve 33b. Output. Then, the ground plate 5 of the jack 30 is installed on the ground G, and the vehicle 1 is supported by the jack device 3 with a ground plate.

  Further, when the vehicle 1 is supported by the roller-equipped jack device 4, the selection unit 20 selects the roller jack device 4 to operate, and outputs an operation signal 19 a from the operation unit 19 to the control valve 43 b. And the roller 6 of the jack apparatus 4 with a roller is installed in the ground G, and the vehicle 1 is supported by the jack apparatus 4 with a roller.

  The control means 90 determines that the grounding of the roller-equipped jack device 4 has been detected when all of the roller-grounded jack grounding detecting means 23 arranged in each of the four jacks 40 have detected the grounding of the roller 6. Accordingly, it is determined that the grounding of the roller jack device 4 has been detected in response to the signals from the tilt angle detecting means 21 and the jack-with-roller detecting means 23 and the tilt angle signal from the tilt-angle detecting means 21 is a predetermined first tilt. It functions to output the first notification signal 22a to the notification means 22 when detecting a corner or more.

  Therefore, when the vehicle 1 is supported by the roller-equipped jack device 4 and the vehicle 1 reaches a predetermined first inclination angle or more, the notification means 22 notifies the vehicle 1 so that the vehicle 1 can be avoided and safety is ensured. it can. Further, when the vehicle 1 is supported by the jack device 3 with a ground plate, the notification means 22 notifies the fact that the roller-equipped jack ground detection means 23 does not detect the ground even if a predetermined first inclination angle or more is detected. It will never be done. Therefore, when the vehicle 1 is supported by the jack device 3 with the ground plate, it is possible to eliminate the fact that the alarm is noisy.

  When the notification means 22 stops the driving of the swivel base 12 and the telescopic boom 13 or stops the traveling drive of the vehicle 1 to notify the operator, the jack device 3 with a ground plate is used for the vehicle 1. It is possible to eliminate the fact that the operation cannot be performed by stopping the driving when the motor is supported.

(Fifth embodiment)
An embodiment of the present invention corresponding to claim 4 is shown in FIG. 6 and described below. The embodiment shown in FIG. 6 differs from the embodiment shown in FIG. 1 in that a jack ground detection means 24 with a ground plate is added and the function of the control means 100 is changed. Since the other components are the same, description of the other components is omitted. In addition, the control means 50 of FIG. 1 receives the signal that the selection signal 20a of the selection means 20 has selected the jack apparatus 4 with a roller, and determines that the vehicle 1 is supported by the jack apparatus 4 with a roller. However, the control means 100 does not have this function.

  The jack ground detection means 24 with a ground plate is a means for detecting when the ground plate 5 of the jack device 3 is grounded to the ground G and the vehicle 1 is supported by the jack device 3 with the ground plate, and the jack outer cylinder of each jack 30. The backlash of the connection part which connects 31 and the hydraulic cylinder 33a is detected (specifically, it is detected that the gap generated when the vehicle body 1 is not supported disappears when the vehicle body 1 is supported), and each of the four jacks 40 is detected. The grounding-jack-equipped jack grounding detecting means 24 is disposed at the bottom.

  The control unit 100 receives the selection signal 20a from the selection unit 20, and outputs the control signal to the control valve 33b or the control valve 43b on the side selected by the selection unit 20 from the operation signal 19a. This is the same as the embodiment. Therefore, for example, when the vehicle 1 is supported by the jack device 3 with the ground plate, the selection means 20 selects the side that operates the jack device 3 with the ground plate, and the operation signal 19a from the operation means 19 is sent to the control valve 33b. Output. Then, the ground plate 5 of the jack 30 is installed on the ground G, and the vehicle 1 is supported by the jack device 3 with a ground plate.

  Further, when the vehicle 1 is supported by the roller-equipped jack device 4, the selection means 20 selects the roller-equipped jack device 4 to operate, and an operation signal 19 a from the operation means 19 is output to the control valve 43 b. And the roller 6 of the jack apparatus 4 with a roller is installed in the ground G, and the vehicle 1 is supported by the jack apparatus 4 with a roller.

The control means 100 determines that the grounding of the jack device 3 with the grounding plate has been detected when all of the jack grounding detection means 24 with the grounding plate arranged in the four jacks 30 detect the grounding of the grounding plate 5. The control means 100 receives a signal from the inclination angle detection means 21 and outputs a first notification signal 22a to the notification means 22 when the inclination angle signal detects a predetermined first inclination angle or more. When receiving a signal from the jack ground detection means 24, it functions to regulate the output of the first notification signal 22a.

Therefore, when the vehicle 1 is supported by the jack device with a ground plate , the control means 100 notifies the notification device 22 when the jack ground detection means 24 with the ground plate detects ground even if a predetermined first inclination angle or more is detected. The output of the first notification signal 22a is regulated. Therefore, when the vehicle 1 is supported by the jack device 3 with the ground plate, it is possible to eliminate the fact that the alarm is noisy.

  Further, even when the notification means 22 stops the driving of the swivel base 12 and the telescopic boom 13 or stops the driving of the vehicle 1 to notify the operator, the vehicle 1 is detected by the jack device 3 with the ground plate. When supporting, it is possible to eliminate the fact that the operation cannot be performed by stopping the driving.

(Sixth embodiment)
The sixth embodiment is shown in FIG. 7 or 8 and will be described below. The embodiment illustrated in FIG. 7 is different from the embodiment illustrated in FIG. 5 in that a function described below is added to the control unit 110. That is, whether the control unit 110 receives the tilt angle signal 21a from the tilt angle detection unit 21 and detects a second tilt angle whose detected tilt angle is larger than a predetermined first tilt angle (for example, 3 °). If the inclination angle signal 21a from the inclination angle detection means 21 detects the second inclination angle, the second notification signal 22b is output to the notification means 22. The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a voice warning message, or may be a change in the content of the voice warning message when the first notification signal 22a is received and when the second notification signal 22b is received.

  Therefore, when the second inclination angle larger than the predetermined first inclination angle is detected, the control hand 110 outputs the second notification signal 22b to the notification means 22 and notifies the vehicle 1 with the jack device 3 with the ground plate. Even if it is, dangerous work can be avoided and safety can be secured.

  Further, the embodiment shown in FIG. 8 is different from the embodiment shown in FIG. 6 in that a function described below is added to the control means 120. That is, whether the control unit 120 receives the tilt angle signal 21a from the tilt angle detection unit 21 and detects a second tilt angle whose detected tilt angle is larger than a predetermined first tilt angle (for example, 3 °). If the inclination angle signal 21a from the inclination angle detection means 21 detects the second inclination angle, the second notification signal 22b is output to the notification means 22. The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a voice warning message, or may be a change in the content of the voice warning message when the first notification signal 22a is received and when the second notification signal 22b is received.

  Therefore, when the second inclination angle larger than the predetermined first inclination angle is detected, the control means 120 outputs the second notification signal 22b to the notification means 22 so that the vehicle 1 is supported by the jack device 3 with a ground plate. Even if it is, dangerous work can be avoided and safety can be secured.

(Seventh embodiment)
An embodiment of the present invention corresponding to claim 5 is shown in FIG. 9 and described below. The embodiment shown in FIG. 9 is different from the embodiment shown in FIG. 8 in that a function described below is added to the control means 130. That is, whether the control means 130 receives the inclination angle signal 21a from the inclination angle detection means 21 and detects a second inclination angle whose detected inclination angle is larger than a predetermined first inclination angle (for example, 3 °). Determine whether or not. The control means 130 outputs a second notification signal 22b to the notification means 22 when the jack ground detection means 24 with grounding plate detects the ground contact and receives a signal for detecting the second inclination angle from the inclination angle detection means 21. . The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a voice warning message, or may be a change in the content of the warning message when the first notification signal 22a is received and when the second notification signal 22b is received.

  Therefore, when the second inclination angle larger than the predetermined first inclination angle is detected while the vehicle 1 is supported by the jack device 3 with the ground plate, the control means 130 outputs the second notification signal 22b to the notification means 22. Since the notification is made, even when the vehicle 1 is supported by the jack device 3 with the ground plate, dangerous work can be avoided and safety can be ensured.

(Eighth embodiment)
An embodiment of the present invention corresponding to claim 6 is shown in FIG. 10 and described below. The embodiment shown in FIG. 10 is provided with both the detection means of the roller ground contact detection means 23 and the ground contact jack ground detection means 24 of the embodiment shown in FIGS. 5 and 6 and the control. The difference is that the function of the means 140 is changed, and the other components are the same, so the description of the other components is omitted.

  The control means 140 receives the selection signal 20a from the selection means 20, and outputs the control signal to the control valve 33b or the control valve 43b on the side selected by the selection means 20 from the operation signal 19a. This is the same as the embodiment. Therefore, for example, when the vehicle 1 is supported by the jack device 3 with the ground plate, the selection means 20 selects the side that operates the jack device 3 with the ground plate, and the operation signal 19a from the operation means 19 is sent to the control valve 33b. Output. Then, the ground plate 5 of the jack 30 is installed on the ground G, and the vehicle 1 is supported by the jack device 3 with a ground plate.

  Further, when the vehicle 1 is supported by the roller-equipped jack device 4, the selection unit 20 selects the roller jack device 4 to operate, and outputs an operation signal 19 a from the operation unit 19 to the control valve 43 b. And the roller 6 of the jack apparatus 4 with a roller is installed in the ground G, and the vehicle 1 is supported by the jack apparatus 4 with a roller.

  The control unit 140 determines that the grounding of the roller-equipped jack device 4 has been detected when all of the roller-grounded jack grounding detecting units 23 arranged in the four jacks 40 detect the grounding of the roller 6. Accordingly, it is determined that the grounding of the roller jack device 4 has been detected in response to the signals from the tilt angle detecting means 21 and the jack-with-roller detecting means 23 and the tilt angle signal from the tilt-angle detecting means 21 is a predetermined first tilt. It functions to output the first notification signal 22a to the notification means 22 when detecting a corner or more.

  Therefore, when the vehicle 1 is supported by the roller-equipped jack device 4 and the vehicle 1 reaches a predetermined first inclination angle or more, the notification means 22 notifies the vehicle 1 so that the vehicle 1 can be avoided and safety is ensured. it can. Further, when the vehicle 1 is supported by the jack device 3 with a ground plate, the notification means 22 notifies the fact that the roller-equipped jack ground detection means 23 does not detect the ground even if a predetermined first inclination angle or more is detected. It will never be done. Therefore, when the vehicle 1 is supported by the jack device 3 with the ground plate, it is possible to eliminate the fact that the alarm is noisy.

  When the notification means 22 stops the driving of the swivel base 12 and the telescopic boom 13 or stops the traveling drive of the vehicle 1 to notify the operator, the jack device 3 with a ground plate is used for the vehicle 1. It is possible to eliminate the fact that the operation cannot be performed by stopping the driving when the motor is supported.

Next, the control unit 140 detects the grounding of the jack device 3 with the grounding plate when all the grounding jacks with the grounding plate detecting means 24 arranged in the four jacks 30 detect the grounding of the grounding plate 5. to decide. Then, the control means 140 receives the inclination angle signal 21a from the inclination angle detection means 21, and detects whether the detected inclination angle is a second inclination angle larger than a predetermined first inclination angle (for example, 3 °). Determine whether or not. Accordingly, it is determined that the grounding of the jack device 3 with the grounding plate has been detected by receiving signals from the tilting angle detecting unit 21 and the jack grounding detecting unit 24 with the grounding plate, and the tilting angle signal from the tilting angle detecting unit 21 is the second tilting It functions to output the second notification signal 22a to the notification means 22 when a corner is detected. The notification means 22 receives the second notification signal 22b and notifies the user with a warning sound different from the warning sound that is received and notified by the first notification signal 22a. Here, the warning sound may be a warning message, or may be a change in the content of the warning message by voice when receiving the first notification signal 22a and when receiving the second notification signal 22b.

Therefore, when the second inclination angle larger than the predetermined first inclination angle is detected while the vehicle 1 is supported by the jack device 3 with the ground plate, the control means 70 outputs the second notification signal 22b to the notification means 22. Since the notification is made, even when the vehicle 1 is supported by the jack device 3 with a ground plate, dangerous work can be avoided and safety can be ensured.
(Application of the embodiment)
The roller jack contact detection means 23 and the ground contact jack contact detection means 24 in the above-described embodiment are designed to detect the backlash of the connecting portion connecting the jack outer cylinder and the hydraulic cylinder, but are installed in each jack device. The holding pressure of each hydraulic cylinder at this time may be detected to detect ground contact. Further, the support force of each jack may be detected by a load cell or the like to detect grounding.

  Moreover, although the said embodiment demonstrated the case where the jack apparatus 3 with a ground plate and the jack apparatus 4 with a roller were arrange | positioned separately, the roller 6 was attached to the jack apparatus 3 with a ground plate as shown in FIG. The function of the jack device 4 may be provided. In other words, the roller 6 is attached to the tip of the jack inner cylinder 32 so as to be able to swing, and when the roller-equipped jack device 4 is provided, the roller 6 protrudes downward from the ground plate 5 and can be fixed. Of course, such an embodiment is an embodiment using the present invention.

  In this case, the selection means 20 can correspond to the first and second embodiments if it is constituted by switch means that switches manually or automatically depending on whether or not the roller 6 protrudes below the ground plate 5. Furthermore, in this case, the jack ground detection means 24 with the ground plate provided in the jack apparatus 3 with the ground plate can be used as the jack ground detection means 24 with the ground plate or the jack ground detection means 23 with the roller by selecting the switch means. The fourth embodiment and the sixth embodiment can also be supported. That is, the jack ground detection means 24 with the ground plate can function as the jack ground detection means 23 with the roller if the switch means the jack ground with the roller. The grounding jack grounding detection means 24 may function as the grounding jack grounding detection means 24 as well.

  Next, in each of the above embodiments, each control means has a function of driving and controlling the hydraulic cylinder so that the vehicle 1 is supported by the jack device 3 with grounding plate and the vehicle 1 is supported by the jack device 4 with roller, and a notification means 22. The control means for controlling the former function is arranged as the first control means, and the control means for controlling the latter function as the second control means. Needless to say, the embodiments of the present invention are used even if they are individually arranged.

  Further, in each of the above embodiments, the tilt angle detection means 21 has been described as being capable of detecting the tilt angles of the first tilt angle and the second tilt angle. However, the first tilt angle detection means and the second tilt angle detection means Even if two tilt angle detecting means are arranged, the first tilt angle is detected by the first tilt angle detecting means, and the second tilt angle is detected by the second tilt angle detecting means, Of course, it is an embodiment utilizing the invention.

  In the above-described embodiment, the case where the present invention is applied to an aerial work vehicle has been described. However, the present invention can be applied to a work vehicle including a jack device with a ground plate and a jack device with a roller, such as a bridge inspection vehicle and a railroad vehicle. is there. That is, the roller-equipped jack device 3 corresponds to a jack device with an iron wheel in a railway vehicle, and the present invention can also be applied to a vehicle that is operated while traveling on the iron wheel.

BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, 1st Embodiment (Embodiment corresponding to Claim 1) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 2nd Embodiment (embodiment corresponding to Claim 2) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 3rd Embodiment (embodiment corresponding to Claim 3) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 3rd Embodiment (other embodiment corresponding to Claim 3) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 4th Embodiment . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 5th Embodiment (embodiment corresponding to Claim 4) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 6th Embodiment . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 6th Embodiment . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 7th Embodiment (embodiment corresponding to Claim 5) . It is explanatory drawing explaining the control apparatus of the working vehicle which concerns on this invention, and is 8th Embodiment (embodiment corresponding to Claim 6) . It is explanatory drawing explaining the work vehicle which concerns on this invention, and has shown the state which supported the vehicle with the jack apparatus. It is explanatory drawing explaining the work vehicle which concerns on this invention, and has shown the state which supported the vehicle with the jack apparatus with a roller. It is explanatory drawing explaining the work vehicle which concerns on this invention, and is explanatory drawing explaining the jack apparatus which can also use a jack apparatus with the jack apparatus with a roller.

DESCRIPTION OF SYMBOLS 1 Vehicle 3 Jack apparatus with a ground plate 4 Jack apparatus with a roller 5 Ground plate 6 Roller 20 Selection means 21 Inclination angle detection means 22 Notification means 22a First notification signal 22b Second notification signal 23 Jack ground detection means with roller 24 With ground plate Jack ground detecting means 33 Jack driving means 43 Jack driving means 50 Control means 60 Control means 70 Control means 80 Control means 90 Control means 100 Control means 110 Control means 120 Control means 130 Control means 140 Control means

Claims (6)

A jack device with a grounding plate with a grounding plate attached to the lower end of the jack and a jack device with a roller with a roller attached to the lower end of the jack are provided at four locations on the front, rear, left and right of the vehicle, and either one of the two jacking devices is provided. A jack selected by the selection means, comprising: a selection means for selecting; a jack driving means for driving each jack apparatus; and a control means for driving the jack driving means of the selected jack apparatus in response to a selection signal from the selection means. In a work vehicle in which a vehicle is supported by an apparatus and is operated,
An inclination angle detecting means for detecting the inclination angle of the vehicle and an informing means for receiving and informing a notification signal are arranged, and the control means receives a signal from the inclination angle detecting means and the selection means and selects from the selection means. When the signal selects the jack device with a roller and the inclination angle signal from the inclination angle detection means detects a predetermined first inclination angle or more, the first notification signal is output to the notification means. A control device for a work vehicle. A jack device with a grounding plate with a grounding plate attached to the lower end of the jack and a jack device with a roller with a roller attached to the lower end of the jack are provided at four locations on the front, rear, left and right of the vehicle, and either one of the two jacking devices is provided. A jack selected by the selection means, comprising: a selection means for selecting; a jack driving means for driving each jack apparatus; and a control means for driving the jack driving means of the selected jack apparatus in response to a selection signal from the selection means. In a work vehicle in which a vehicle is supported by an apparatus and is operated,
An inclination angle detecting means for detecting the inclination angle of the vehicle and an informing means for receiving and informing a notification signal are arranged, and the control means receives signals from the inclination angle detecting means and the selection means from the inclination angle detecting means. When the tilt angle signal detects a predetermined first tilt angle or more, the first notification signal is output to the notification unit, and the selection signal from the selection unit selects the jack device with a ground plate. A control device for a work vehicle, characterized in that the output of the first notification signal is restricted. 3. The control means according to claim 1, wherein the control means selects a jack device with a grounding plate as a selection signal from the selection means, and an inclination angle signal from the inclination angle detection means is greater than the predetermined first inclination angle. A control device for a work vehicle, characterized in that a second notification signal is output to the notification means when two inclination angles are detected. A jack device with a grounding plate with a grounding plate attached to the lower end of the jack and a jack device with a roller with a roller attached to the lower end of the jack are provided at four locations on the front, rear, left and right of the vehicle, and either one of the two jacking devices is provided. A jack selected by the selection means, comprising: a selection means for selecting; a jack driving means for driving each jack apparatus; and a control means for driving the jack driving means of the selected jack apparatus in response to a selection signal from the selection means. In a work vehicle in which a vehicle is supported by an apparatus and is operated,
  Inclination angle detection means for detecting the inclination angle of the vehicle, notification means for receiving and informing a notification signal, and jack ground detection with a ground plate for supporting the vehicle by the jack device with a ground plate and detecting grounding of the jack device with the ground plate The control means receives a signal from the inclination angle detection means, and outputs a first notification signal to the notification means when the inclination angle signal detects a predetermined first inclination angle or more. A work vehicle control device configured to receive a signal from a grounding jack grounding detecting means and to regulate the output of the first notification signal when grounding of the grounding jack device is detected. 5. The control means according to claim 4, wherein the control means receives a signal from a jack ground detecting means with a ground plate, detects grounding of the jack apparatus with a ground plate, and an inclination angle signal from the inclination angle detecting means is determined from a predetermined first inclination angle. A control device for a work vehicle, characterized in that a second notification signal is output to the notification means when a large second inclination angle is detected. A jack device with a grounding plate with a grounding plate attached to the lower end of the jack and a jack device with a roller with a roller attached to the lower end of the jack are provided at four locations on the front, rear, left and right of the vehicle, and either one of the two jacking devices is provided. A jack selected by the selection means, comprising: a selection means for selecting; a jack driving means for driving each jack apparatus; and a control means for driving the jack driving means of the selected jack apparatus in response to a selection signal from the selection means. In a work vehicle in which a vehicle is supported by an apparatus and is operated,
  Inclination angle detection means for detecting the inclination angle of the vehicle, notification means for receiving and informing a notification signal, jack-grounded detection means with roller for supporting the vehicle by the jack-with-roller device and detecting grounding of the jack-with-roller device, A jack grounding detecting means with a grounding plate for supporting the vehicle by the jacking device with the grounding plate and detecting grounding of the jacking device with the grounding plate, the control means includes an inclination angle detecting means and a jack grounding detecting means with a roller; The signal from the jack ground detection means with grounding plate is received, the signal from the inclination angle detection means detects a predetermined first inclination angle or more, and the signal from the jack ground detection means with roller detects the grounding of the jack apparatus with roller. In this case, the first notification signal is output to the notification means, and the second inclination angle detected by the signal from the inclination angle detection means is larger than the predetermined first inclination angle. Control device for a working vehicle, characterized in that the signal from the ground fitted with the jack ground detection means configured to output a second notification signal to the notification means when detecting grounding of the ground fitted with a jack device.

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