JPH10324497A - Boom vehicle safety system - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a safety system for a boom working vehicle that can enhance safety during operation of a boom even when a moment limiter is not provided. A controller includes a turning angle detector.
, The left or right side of the boom 10 is detected. Then, it is detected that the ground reaction force of both the front and rear jacks on the non-detected side has become zero, or the ground reaction force of at least one of the front and rear jacks on the detected side has become zero. Is detected, the operation of the swing cylinder 16 and the operation of the up-and-down cylinder 17 that actuate the boom 10 in a direction to increase the overturning moment Mt are regulated, and an alarm lamp 24 displays an alarm, An alarm action such as sounding 25 is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention comprises a boom having at least a track-moving wheel rotatably mounted on a vehicle body and capable of freely turning and other operations, and a jack for supporting the vehicle body during operation. Related to safety systems for boom work vehicles.

[0002]

2. Description of the Related Art Such a boom working vehicle is constituted by a truck as a base, and is provided on a vehicle body so as to be capable of turning and undulating (furthermore, expanding and contracting), and a worker boarding attached to a tip of the boom. There is known a track-and-land vehicle equipped with a work table. In this type of rail-land vehicle, the vehicle body is placed on a rail with the retractable iron wheel (track running wheel) protruding downward, and the iron wheel and tire wheel (road running wheel) contact the rail. Then, the tire wheel can be driven to travel on the rail.

When construction or inspection of railway equipment such as a trolley wire and a trolley line on a rail is performed by such a rail-land vehicle, the vehicle travels on the rail, moves to a destination, stops the vehicle, and sets a jack. . Then, in a state where the vehicle body is stably supported by the jack, the boom is appropriately raised and lowered, turned (expanded and contracted) to move the work table to a desired height, and the work carried by the work table is performed by an operator who has boarded the work table. In this type of track-and-land vehicle, the jack supports the vehicle body in a ground contact state where a predetermined ground contact reaction force can be obtained with the iron wheel positioned on the rail.

[0004]

By operating the boom in such a work, the position of the center of gravity of the working device (the boom and the workbench) on the vehicle body changes, so that a moment for overturning the vehicle is required. (Hereinafter referred to as the overturning moment) will change. When the overturning moment that changes in this way becomes larger than the moment acting to oppose the overturning moment by the support of the jack or the like (hereinafter referred to as a stable moment), the vehicle falls over. In order to prevent such a fall, a moment limiter that detects the moment acting on the vehicle body and permits the operation of the boom within an allowable operation range in which the detected moment is equal to or less than the allowable moment may be provided.

[0005] However, if the moment limiter is not provided, the operator determines whether or not the boom is within the allowable operating range. However, the allowable operating range may vary depending on the weight of the load on the work table, and there is a problem that it is difficult for an operator to make such a determination.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a safety system for a boom working vehicle which can enhance the safety at the time of operating a boom even when a moment limiter is not provided. The purpose is.

[0007]

In order to achieve the above object, a safety system according to the present invention is provided such that an operation such as turning is freely mounted on a vehicle body on which at least a track running wheel is rotatably mounted. Boom working vehicle having a boom mounted on the front, rear, left and right sides of the vehicle body, and a jack configured to support the vehicle body in a ground contact state in which a predetermined ground reaction force can be obtained with the track running wheels positioned on the rails The safety system includes a turning angle detector that detects a turning angle of the boom, and a grounding detector that detects a grounding state of each of the front, rear, left, and right jacks. Then, the safety system detects whether the boom is turning to the left or right based on information from the turning angle detector, and based on the detection result and information from the grounding detector, the front and rear of the opposite side of the turning side. The overturning moment acting on the vehicle body is increased when it is detected that the ground reaction force of both jacks is almost zero, or that the ground reaction force of at least one of the front and rear jacks on the turning side is almost zero. It is configured to regulate the operation of the boom that causes the boom to move.

According to such a configuration, for example, when the boom is swung, raised and lowered, or expanded and contracted, both the front and rear jacks on the opposite side of the swiveling side float (or are substantially in a floating state). If at least one of the front and rear jacks on the turning side floats (or becomes almost in a floating state), the turning operation in the direction in which the turning angle is further increased, and the falling operation or the extension operation at the turning position is restricted. Thus, an increase in the overturning moment is restricted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 3 to 6, a track-and-land vehicle (boom working vehicle) 1 equipped with the safety system of the present invention is configured based on a truck, and has tires attached to four front, rear, left, and right sides of a vehicle body 2. The vehicle can run on the road by the wheels (road running wheels) 3 (3a to 3d). Furthermore, the front, rear, left and right 4
In places, iron wheels (wheels for track running) 4 (4a-4d)
Is rotatably attached to an iron wheel support member 5 supported swingably on the vehicle body 2. In addition, a suspension is provided for the axle of the tire wheel 3.

The iron wheel supporting member 5 is oscillated by the expansion and contraction operation of the hydraulic cylinder 6 for retracting and storing the iron wheel. By oscillating the iron wheel supporting member 5, the iron wheel 4 is extended downward or upward. And can be stored. The track-and-land vehicle 1 travels on the rail R by placing the vehicle body 2 on the rail R with the iron wheel 4 projecting downward, bringing the iron wheel 4 and the tire wheel 3 into contact with the rail R, and driving the tire wheel 3. can do. Here, in this example, the tire wheels 3 are driven to travel on the rail R as described above, but the iron wheels 4 may be driven by a hydraulic motor or the like to travel on the rail R. A turntable 7 is mounted at the lower center of the vehicle body 2 to transfer the track-and-land vehicle 1 on the rail R.

A boom support member 11 is mounted on the vehicle body 2. A boom 10 including three boom members (first to third booms 12 to 14) is attached to the boom support member 11.
It is connected to the workbench support member 15 below the workbench 18 for boarding the worker. The base ends of the first to third booms 12 to 14 constituting the boom 10 are connected to the boom support member 1.
The connecting members 1 are attached to the connecting member 1 so as to be able to swing vertically (up and down).
Further, the distal ends of the first to third booms 12 to 14 are each attached to a connecting member that is attached to the workbench support member 15 so as to be horizontally pivotable so as to be vertically swingable.

The boom support member 11, the first to third booms 12 to 14, and the workbench support member 15 constitute a so-called parallel link. That is, in a state where the workbench support member 15 is positioned parallel to the boom support member 11, the first to third booms 12 to 14 are respectively parallel in plan view, and 1
The second booms 12 and 13 are attached so as to be parallel to the third boom 14. Therefore, the worktable 18
The boom 10 can be turned and raised and lowered while always maintaining the same posture. In addition, the boom 10 is configured to perform a turning operation by extending and retracting the swivel cylinder 16, and is configured to perform an up and down operation by extending and retracting the up and down cylinder 17.

At four positions, front, rear, left and right of the vehicle body 2, jacks 19 (19a to 19a) for supporting the vehicle body 2 during operation.
d) is attached. The projecting operation of the jack 19 can be automatically performed by an automatic projecting device (not shown). When the switch is operated, the automatic overhanging device causes the jack 19 to be in contact with the ground, and the ground reaction force at each of the front and rear left and right jacks 19a to 19d is equal to or greater than a predetermined value according to information from the ground reaction force detectors 21a to 21d attached to the jack. Until the above, the jack 19 is extended and operated. The predetermined value of the ground reaction force is set so that the tire wheel 3 and the iron wheel 4 do not float off the rail R and the jack 19 can obtain the ground reaction force.

When construction or inspection of railway equipment such as an overhead wire or a trolley line on the rail R is performed by the rail-land vehicle 1 having the above-described configuration, the vehicle travels on the rail R to move to a destination, and the vehicle is moved. The vehicle stops, and the jack 19 is extended to operate. Then, the workbench 18 is moved to a desired height by raising and lowering and turning the boom 10 as appropriate, so that the worker boarding the worktable 18 can perform work.

In this operation, turning the boom 10 or raising and lowering the boom 10 changes the moment Mt for overturning the vehicle 1 (overturning moment) Mt as shown in FIG. . When the falling moment Mt that changes in this way becomes larger than the moment (stable moment) Mk acting against the falling moment by the support of the jack 19 or the like, the vehicle 1
Falls.

The overturning moment Mt is generated by the boom 10 when the jack 19 is extended as shown in FIG.
Is turned to the left, the boom 10, the workbench support member 15, the workbench 18, the worker (not shown) riding on the workbench 18 and the like touch the grounding point (falling moment Mt) of the left jacks 19c and 19d. (The fulcrum) is obtained by multiplying the sum of the weights of the parts located on the left side of the center of gravity and the horizontal distance (the length of the moment arm) t1 between the center of gravity g1 and the jacks 19c and 19d on the left side. By operating the boom 10 to the left or to the falling position in the swiveling position, the weight of the left portion of the left jacks 19c and 19d and the moment arm t1 are obtained.
Since both lengths increase, the overturning moment Mt increases.

On the other hand, when the stable moment Mk is the same as the above, the vehicle body 2, the boom 10, the workbench support member 1
5, the worktable 18, the worker on the worktable 18, the left jack 19a on the right jacks 19a and 19b, and the like.
The horizontal distance between the center of gravity g2 and the left jacks 19c and 19d (the length of the moment arm), which is the sum of the weights of the portions located on the right side of the grounding points of c and 19d (the fulcrum of the stable moment Mk). It is obtained by the product of k1. By operating the boom 10 to the left or operating the boom 10 in the turning position, the jack 1 on the left side is operated.
Since both the weight of the portion located to the right of 9c and 19d and the length of the moment arm k1 decrease, the stable moment Mk decreases.

In order to prevent the vehicle 1 from becoming unstable due to such a large overturning moment Mt or from falling over, a safety system is provided in the rail-to-land vehicle 1.

FIG. 1 shows this safety system. The information of the above-mentioned ground reaction force detectors 21 a to 21 d is input to a controller 23. Further, information from a turning angle detector 22 that detects the turning angle of the boom 10 is also input to the controller (boom operation restricting means) 23. The controller 23 detects whether the boom 10 is turning left or right based on information from the turning angle detector 22. Then, it is detected that the ground reaction force of the front and rear jacks (jacks 19a and 19b in the state of FIGS. 5 and 6) on the side other than the detected side is zero, or it is detected. At least one of the front and rear jacks (the jack 19c in the state of FIGS. 5 and 6)
Alternatively, when it is detected that the ground reaction force in step 19d) has become zero, the operation of the turning cylinder 16 that operates the boom 10 in a direction to increase the overturning moment Mt (the state of FIGS. 5 and 6). In this case, the extension operation is performed) and the operation of the up-and-down cylinder 17 (reduction operation in the case of FIGS. 5 and 6) is restricted, an alarm is displayed on the alarm lamp 24,
An alarm action such as sounding 5 is performed.

Here, in this example, the jack 19
The alarm was activated when it was detected that the ground reaction force became zero. For example, when it was detected that the ground reaction force was It may be made to be performed.

According to such a configuration, when the boom is turned to the left as shown in FIGS. 4 to 6, for example, when the ground reaction force of the right and left front and rear jacks 19a and 19b is eliminated, the counterclockwise turning is performed. When the vehicle 1 is turned or turned over, the overturning moment Mt becomes larger than the stable moment Mk, and the vehicle 1 falls. Can be.

As described above, the jacks 19a and 19b do not support the entire vehicle weight of the vehicle 1, and even when the jacks 19a and 19b have no ground reaction force and are lifted, the jacks 19a and 19b are not supported by the rail R. Although the reaction force decreases, the right iron wheels 4a, 4b or the right tire wheels 3a, 3b
, The load of the vehicle 1 remains on the rail R. In this state, the vehicle 1 does not overturn because the stable moment Mk is still larger than the overturning moment Mt. In other words, the turning operation, the up-and-down regulation, the alarm lamp 24, the buzzer 25, and the like are performed in a state where a predetermined margin is left for the fall, and the safety of the work is secured.

When performing high-altitude work on the rail R with such a track-and-land vehicle 1, the ground G on which the jack 19 is stretched is often brittle because of the gravel laid under the sleepers of the rail R. For this reason, the boom 10 is not turned so much, and the right and left front and rear jacks 19a, 19b are not rotated.
When the ground contact portions of the left and right front and rear jacks 19c, 19d collapse even in a state where the ground reaction force is acting on the fulcrum, the fulcrum of the overturning moment Mt and the stable moment Mk becomes
The contact point is changed from the contact point of the left jacks 19c and 19d to the contact point between the iron wheels 4c and 4d (or the left tire wheels 3c and 3d) and the rail R on the left. As a result, in the overturning moment Mt, the weight on the left side of the fulcrum increases, and the length of the moment arm increases from t1 to t2. At the stable moment Mk, the weight on the right side of the fulcrum decreases, and the length of the moment arm decreases from k1 to k2. Therefore, the overturning moment Mt is large and the stable moment Mk is small.

For this reason, the vehicle 1 may become unstable. However, when either one of the left jacks 19c or 19d loses the ground reaction force, the overturning moment Mt
The alarm operation such as restricting the operation of the boom 10 in a direction to increase the alarm can be performed to enhance the safety. At this time, the other jack is in a ground contact state, and the other jack supports the vehicle 1.

The boom 1 without the jack 19 is set.
When trying to turn 0, all jacks 19a-
The controller 23 does not permit the operation of the boom 10 because no ground reaction force acts on 19d. Therefore, it is possible to prevent the boom 10 from operating in an unstable state where the jack 19 is not stretched.

In this example, the controller 23 regulates the operation of the boom 10 in the direction of increasing the overturning moment Mt. However, the controller 23 may control the operation using a relay. FIG. 2 shows an example in which the turning control of the boom 10 is performed by the relay control as described above. In this case, two front, rear, left and right ground reaction force detectors 21 are provided (21a to 21a).
d, 21a 'to 21d') and jacks 19a to
It is configured to be turned on when 19d is grounded. Then, the front and rear ground reaction force detectors 21c and 21d on the left side are connected in series and connected to the relay R1, and the front and rear ground reaction force detectors 21a and 21b on the right side are connected in parallel and connected to the relay R2. The left turning signal is output to the left turning solenoid valve 16a of the turning cylinder 16 via the contacts of the relays R1 and R2.

Furthermore, the remaining ground reaction force detector 21 on the left side
c 'and 21d' are connected in parallel and connected to relay R4, and the remaining right-hand ground reaction force detectors 21a 'and 21b' are connected in series and connected to relay R3. The right turn signal is output to the right turn solenoid valve 16b of the turn cylinder 16 via the contacts of the relays R3 and R4.

According to such a configuration, for example, when the boom 10 is turned to the left, the right jacks 19a, 1
9b, the ground reaction force disappears or the left jack 19
When the ground reaction force is eliminated in at least one of c and 19d, the relay R1 or the relay R2 is opened. For this reason, the output of the left turn signal to the left turn (extension side) solenoid valve 16a of the turn cylinder 16 is restricted, and further turning of the boom 10 to the left is restricted. Similarly, when the boom 10 is turned clockwise, the right turn operation restriction can be performed when the ground reaction force disappears.

Further, the relays R1 to R4 have two or more poles and the remaining poles not used in the above are used to connect R1 and R2 in series, and R3 and R4 are connected in series. Are connected in parallel, and the falling signal is output to the falling solenoid valve of the lifting cylinder via this, so that the falling operation can be restricted at the same time.

Further, in this example, the case where the safety system of the present invention is applied to a work vehicle in which the boom 10 is mounted on the vehicle body 2 so as to be able to turn and undulate has been described. It can also be applied to a work vehicle configured as described above. In this case, as a restriction on the operation of the boom 10 in the direction in which the overturning moment Mt increases, the turning /
Not only undulation regulation but also expansion and contraction regulation is performed. In addition, this safety system is applicable not only to track-and-land vehicles, but also to track work vehicles that can travel only on rails.

[0031]

As described above, according to the safety system for a boom working vehicle of the present invention, both the front and rear jacks on the opposite side of the turning side are not grounded, or at least one of the front and rear jacks on the turning side is grounded. Since the operation of the boom that increases the overturning moment acting on the vehicle body is restricted when it is not performed, the safety at the time of operating the boom can be enhanced even without the moment limiter.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a safety system for a boom working vehicle according to the present invention.

FIG. 2 is a circuit diagram showing another configuration of the safety system of the present invention.

FIG. 3 is a side view showing a configuration of a track-land vehicle provided with the safety device of FIG. 1;

FIG. 4 is a side view showing the orbital vehicle of FIG. 3 in a state where the boom is turned and raised and lowered.

FIG. 5 is a plan view showing the orbital vehicle of FIG. 3 in a state where a boom is turned and raised and lowered.

FIG. 6 is a rear view showing the track-and-land vehicle shown in FIG. 3 in a state where the boom is turned and raised and lowered.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 track-land vehicle (boom working vehicle) 2 body 4 iron wheel (track running wheel) 10 boom 19 jack 21 ground reaction force detector (ground detector) 22 turning angle detector 23 controller (boom operation restricting means)

 ──────────────────────────────────────────────────続 き Continued from the front page (72) Inventor Yoshio Ishii 1152 Yamashita, Ryoji, Ageo-shi, Saitama 10 Aichi Corporation Ageo Works

Claims (1)

[Claims] 1. A boom having at least a track-moving wheel rotatably mounted on a vehicle body and rotatably mounted on the vehicle body, and a boom mounted on the front, rear, left and right of the vehicle body, and connecting the track-traveling wheel to a rail. A jack configured to support the vehicle body in a ground contact state in which a predetermined contact reaction force can be obtained while being positioned above, and a turning system for detecting a turning angle of the boom. A detector, a grounding detector that detects a grounding state of each of the front, rear, left and right jacks, and information from the turning angle detector that detects whether the boom is turning to the left or right, and detects the grounding. According to the information from the container, the ground reaction force of the jacks on both the front and rear sides opposite to the turning side has become substantially zero, or the ground reaction force of at least one of the front and rear jacks on the turning side has become substantially zero. And a boom operation restricting means for restricting the operation of the boom so as to increase the overturning moment acting on the vehicle body when it is detected that the vehicle has reached the vehicle body.