JP6231338B2 - Braking force control device for track traveling work vehicle - Google Patents

Description

  The present invention relates to a braking force control device for a track traveling work vehicle having a horizontally turnable boom such as an aerial work vehicle having a track traveling wheel that travels on a track.

  As a conventional track traveling work vehicle, an aerial work having a traveling body in which a plurality of track traveling wheels traveling on a track are arranged in a traveling direction, a boom provided on the traveling body and capable of turning in a horizontal direction, and a work table. 2. Description of the Related Art There is known an aerial work vehicle including a device and a braking unit that brakes rotation of each track traveling wheel (see, for example, Patent Document 1).

  In the aerial work vehicle, the operator of the work table usually performs work such as overhead wire work while traveling with the tip of the boom directed toward the front of the traveling body. In the aerial work vehicle, in a posture in which the tip of the boom is directed to the front of the traveling body, the axle load of the track traveling wheel positioned on the front side of the traveling body is larger than the axle load of the track traveling wheel positioned on the rear side. growing. For this reason, the braking means of the aerial work vehicle sets the braking force of the track traveling wheel located on the front side of the traveling body to be larger than the braking force of the track traveling wheel located on the rear side.

JP 2001-315511 A

  In the aerial work platform, there is a demand for enabling work by lowering the height of the work platform, for example, work on the wall surface in the tunnel, lower than the minimum height in a posture in which the tip of the boom faces the front of the traveling body. is there. In response to this requirement, in the aerial work vehicle, the height of the workbench is set to a posture in which the tip of the boom is directed to the front of the traveling body by setting the tip of the boom toward the rear of the traveling body. It is possible to make it lower than the minimum height.

  However, in the aerial work platform, if the tip of the boom is in the posture toward the rear of the traveling body, the center of gravity is positioned rearward compared to the posture in which the tip of the boom is directed toward the front of the traveling body. The axial weight of the track traveling wheel located on the front side of the traveling body is reduced, and the axial weight of the track traveling wheel located on the rear side is increased. For this reason, in the aerial work vehicle, when the tip of the boom travels in a posture toward the rear of the traveling body and the rotation of the orbital traveling wheel is braked by the braking means, the rear side of the traveling body with increased axial weight Only a small braking force is applied to the track running wheel located at, and the braking force is insufficient. Further, in the aerial work vehicle, when the boom tip is moved in a posture toward the rear of the traveling body and the rotation of the orbital traveling wheel is braked by the braking means, the vehicle is positioned on the front side of the traveling body having a reduced axle load. A large braking force is applied to the traveling wheel. In an aerial work vehicle that travels in a posture in which the tip of the boom is directed toward the rear of the traveling body, a large braking force acts on the traveling wheel on the front side of the traveling body with reduced axle load, thereby A lock state occurs that completely stops. In the aerial work platform, when the wheel for track traveling is locked, the vehicle is slid on the track, which may cause a safety problem. Prohibited by setting.

  An object of the present invention is to provide a braking force control device for a track traveling work vehicle that enables track traveling in various postures of the working device having different positions of the center of gravity.

In order to achieve the above object, the present invention provides a traveling body in which a plurality of orbital traveling wheels that travel on a track are arranged in the traveling direction, a boom that is provided in the traveling body, and that can turn and undulate in a horizontal direction, and a boom. possess a workbench provided at a distal end portion, by causing overhang the distal end of the boom the platform toward the rear from the rear end portion of the traveling body to the rear, toward the tip of the boom forward work A working device capable of adopting a posture in which the height of the work table is lowered as compared with the case where the platform is positioned above the traveling body, braking means for braking rotation of each track traveling wheel, and traveling body A swiveling position detecting means for detecting a swiveling position of the boom with respect to the vehicle, and a swiveling position when traveling on the track in a posture in which the workbench is projected rearward from the rear end of the traveling body with the tip of the boom facing rearward. based on the detection result of the detection means, position to the rear of the traveling body The braking force by the braking means of the track road wheels which comprises a braking force setting means for setting to be larger than the braking force by the braking means of the track road wheels located on the front side of the running body.

  Thus, the braking force of the track traveling wheel located on one side of the traveling direction of the traveling body and the track traveling position located on the other side according to the position of the center of gravity that changes according to the direction of the tip of the boom relative to the traveling body. Each wheel braking force is set.

  According to the present invention, it is possible to prevent the locked state of the track traveling wheel caused by the large braking force acting on the track traveling wheel having a small axle load. It is possible to run the track in a posture. In addition, it is possible to prevent a shortage of the braking force of the track traveling wheel on the side where the axial load increases, and it is possible to improve the safety during the track traveling.

It is a side view of the road-rail use aerial work vehicle which shows one Embodiment of this invention. It is a block diagram which shows a control system. It is a side view of a road and land use aerial work vehicle which shows boom back posture driving. It is a flowchart of a braking force setting process.

  1 to 4 show an embodiment of the present invention.

  As shown in FIG. 1, a track-and-terrain aerial work vehicle 1 as a track traveling work vehicle to which the braking force control device of the present invention is applied, a vehicle 10 as a traveling body for traveling on a roadway or a track T, And an aerial work device 100 as a work device for performing the aerial work.

  As shown in FIG. 1, the vehicle 10 is provided with a driving cab 12 at a front portion of a chassis frame 11 extending in the front-rear direction, and an aerial work device 100 at a rear side. Further, the vehicle 10 includes a wheel 20 for traveling on a roadway, an iron wheel 30 as a wheel for traveling on a track, an outrigger 40 for stably supporting the vehicle 10 during work by an aerial work device 100, and a railroad crossing, for example. And a turntable 50 for changing the direction of the vehicle 10 at a position where the roadway and the track T intersect.

  The wheels 20 are provided on the left and right sides of the front and rear sides of the chassis frame 11 and can travel on the roadway using the engine E as a power source.

  The steel wheel 30 is provided behind the front wheel 20 and the rear of the rear wheel 20, respectively, on the lower end side of the steel wheel support member 31 extending downward from the left and right sides of the subframe 13 provided on the upper surface of the chassis frame 11. It is provided rotatably. In the iron ring support member 31, a lower member 31b is provided so as to be swingable in the front-rear direction with respect to the upper member 31a. The iron wheel support member 31 is stored in a state in which the iron wheel 30 is extended below the wheel 20 by the expansion and contraction operation of the iron wheel vertical movement hydraulic cylinder 32 and the iron wheel 30 is stored in the lower part of the vehicle 10. It can be moved to a position. The iron wheel 30 is rotated by a hydraulic motor 33 driven by hydraulic oil discharged from the hydraulic pump. The hydraulic pump is driven by the driving force of the engine E transmitted through the PTO mechanism. Each iron wheel 30 is provided with a brake 34 (FIG. 2) including a hydraulic brake caliper and a disk. The iron wheel 30 rotated by the hydraulic motor 33 stops the supply of hydraulic oil to the hydraulic motor 33 and is braked by the brake 34 being operated. Further, the brake 34 applied to each iron wheel 30 has a variable braking force applied to the iron wheel 30, and the braking force is a predetermined first braking force (braking force: large) or first based on a signal from a controller 200 described later. A predetermined second braking force (braking force: small) that is smaller than the braking force is set.

  The outrigger 40 is provided on both the left and right sides of the front side and the rear side of the vehicle 10. The outrigger 40 can move outward in the width direction and can extend downward by a hydraulic jack cylinder. The outrigger 40 lifts and supports the vehicle 10 by projecting the lower end side downward.

  The turntable 50 is provided at the lower center of the vehicle 10. The turntable 50 is horizontally rotatable with respect to a pair of support legs (not shown) in the width direction of the vehicle 10 provided on the subframe 13, an upper plate 51 provided at the lower end of the support legs, and the upper plate 51. And a lower plate 52. The turntable 50 can lift the vehicle 10 by projecting downward by a hydraulic jack cylinder (not shown) provided inside the support leg. The turntable 50 can turn the vehicle 10 in an arbitrary direction by rotating the upper plate 51 with respect to the grounded lower plate 52 while the vehicle 10 is lifted.

  As shown in FIG. 1, the aerial work device 100 is provided with a swivel base 101 that can be horizontally swiveled by a hydraulic swivel motor, and a liftable cylinder 102 that can be swung up and down with respect to the swivel base 101. The telescopic boom 103 and a work table 105 provided at the tip of the telescopic boom 103 so as to be swingable by a hydraulic leveling cylinder 104 are provided. The work platform 105 is always kept in a horizontal state by the leveling cylinder 104 regardless of the ups and downs of the telescopic boom 103.

  Further, the road-rail aerial work platform 1 includes a controller 200 for controlling the traveling of the vehicle 10 on the track T.

  As shown in FIG. 2, the controller 200 includes a CPU, a ROM, a RAM, and the like. When the controller 200 receives an input signal from a device connected to the input side, the CPU reads a program stored in the ROM based on the input signal and stores a state detected by the input signal in the RAM. The output signal is transmitted to a device connected to the output side.

  On the input side of the controller 200, an operation input unit 201 for inputting an operation related to traveling on the track T of the vehicle 10 and an operation related to the operation of the aerial work apparatus 100, and a detecting position of the swivel base 101 are detected. The turning position detector 202 is connected. The operation input unit 201 includes a lever for inputting an operation by a tilting operation, a push button switch, and the like. The turning position detector 202 includes, for example, a divided conductive ring that can detect a plurality of turning regions and a contact that contacts the conductive ring. A brake 34 is connected to the output side of the controller 200.

  In the road-rail aerial work platform 1 configured as described above, when the vehicle 10 is placed on the track T from the roadway, first, the turntable 50 is moved downward at a place where the roadway and the track T intersect such as a railroad crossing. The vehicle 10 is lifted up and lifted. Thereafter, the user rotates the lifted vehicle 10 to turn the vehicle 10 in the direction in which the track T extends, and sets the iron wheel 30 to the track running position. Finally, the vehicle 10 lifted by the turntable 50 is lowered and the iron wheel 30 is put on the rail to store the turntable 50.

  The road-rail aerial work platform 1 on the track T travels on the track T by the operator operating the operation input unit 201 and moves the work platform 105 of the work platform 100 in the horizontal direction and the vertical direction. Perform movement.

  As shown in FIG. 1, the road-rail aerial work platform 1 moves the work platform 105 in the vertical direction with the front end of the telescopic boom 103 of the work platform 100 facing forward, and causes the vehicle 10 to travel. It is possible.

  Further, as shown in FIG. 3, the road-rail aerial work platform 1 moves the work platform 105 in the vertical direction with the tip of the telescopic boom 103 of the work platform 100 facing backward, It is possible to run. In the road-mounted aerial work platform 1 with the telescopic boom 103 facing rearward, the height position of the front end of the telescopic boom 103 is set to the height position of the front end of the telescopic boom 103 and the height of the front end of the telescopic boom 103 is tilted to the front. By making it lower than the position, it is possible to reduce the height of the workbench 105 as compared with a posture in which the tip of the telescopic boom 103 is directed forward.

  When the vehicle 10 is traveling, the operation oil is supplied to the hydraulic motor 33 by rotating the track input operation lever of the operation input unit 201 forward or backward, and each iron wheel 30 rotates. Further, when the operation of tilting the operation lever is released when the vehicle 10 is traveling, the supply of hydraulic oil to the hydraulic motor 33 is stopped and the rotation of each iron wheel 30 is braked by the brake 34.

  At this time, the controller 200 changes the braking force of each brake 34 of the front iron wheel 30 and the rear iron wheel 30 of the vehicle 10 according to the direction of the tip of the telescopic boom 103 of the aerial work device 100 to the first braking force. A braking force setting process for setting to (braking force: high) or second braking force (braking force: small) is performed. The operation of the CPU of the controller 200 at this time will be described using the flowchart of FIG.

(Step S1)
In step S <b> 1, the CPU determines whether or not an operation for traveling on the track T is performed on the operation input unit 201. If it is determined that an operation for traveling on the track T has been performed, the process proceeds to step S2, and if it is not determined that an operation for traveling on the track T has been performed, the braking force setting process is terminated.

(Step S2)
When it is determined in step S <b> 1 that the operation of traveling on the track T has been performed, in step S <b> 2, the CPU determines whether or not the tip of the telescopic boom 103 is facing the front of the vehicle 10. When it is determined that the tip of the telescopic boom 103 is facing forward of the vehicle 10, the process proceeds to step S3, and when it is not determined that the tip of the telescopic boom 103 is facing forward of the vehicle 10 (telescopic boom) If the tip of 103 is directed to the rear of the vehicle 10), the process proceeds to step S4.
At this time, whether or not the tip of the telescopic boom 103 is directed forward of the vehicle 10 is determined based on the detection result of the turning position detector 202.

(Step S3)
If it is determined in step S2 that the tip of the telescopic boom 103 is facing forward of the vehicle 10, in step S3, the CPU uses the braking force of the brake 34 of the iron wheel 30 on the front side of the vehicle 10 as the first braking force (braking force). : Large), the braking force of the brake 34 of the rear wheel 30 of the vehicle 10 is set to the second braking force (braking force: small), and the braking force setting process is terminated.

(Step S4)
If it is not determined in step S2 that the tip of the telescopic boom 103 is directed to the front of the vehicle 10, in step S4, the CPU uses the braking force of the brake 34 of the iron wheel 30 on the front side of the vehicle 10 as the second braking force ( (Braking force: small), the braking force of the brake 34 on the rear wheel 30 of the vehicle 10 is set to the first braking force (braking force: high), and the braking force setting process is terminated.

Thus, according to the braking force control apparatus for a track traveling work vehicle of the present embodiment, the brake 34 of the iron wheel 30 positioned on one side in the traveling direction of the vehicle 10 based on the detection result of the turning position detector 202. The braking force and the braking force of the brake 34 of the iron wheel 30 located on the other side are respectively set.
This makes it possible to prevent the iron wheel 30 from being locked due to a large braking force acting on the iron wheel 30 having a small axle load, so that the track in various postures of the aerial work device 100 having different positions of the center of gravity. Driving is possible.

In addition, the braking force of each iron wheel 30 is set to one of a predetermined first braking force and a predetermined second braking force that is smaller than the first braking force.
As a result, the braking force of each iron wheel 30 can be set in two stages of “large” or “small”, so that the manufacturing cost can be reduced by adopting a simple control configuration.

In addition, when the braking force of the brake 34 of the iron wheel 30 located on one side in the traveling direction of the vehicle 10 is set to one of the first braking force and the second braking force, the iron wheel 30 located on the other side in the traveling direction. The braking force of the brake 34 is set to the other of the first braking force and the second braking force.
Thereby, according to the detection result of the turning position detector 202, the setting is made by switching the braking force of the brake 34 of one iron wheel 30 and the braking force of the brake 34 of the other iron wheel 30 in the traveling direction of the vehicle 10. Therefore, it is possible to reduce the manufacturing cost by adopting a simple control configuration.

  In the above-described embodiment, the road-mounted aerial work platform 1 including the aerial work device 100 is shown as a work device having a boom. However, the mobile vehicle is capable of traveling on the track T including the crane device having the boom. The present invention can also be applied to a crane.

  In the embodiment, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 are respectively divided into two stages depending on whether or not the tip of the telescopic boom 103 faces the front of the vehicle 10. Although what was set to either was shown, it is not restricted to this. For example, since the center of gravity of the road-mounted aerial work vehicle 1 having the telescopic boom 103 changes according to the undulation angle and the telescopic length of the telescopic boom 103, the direction of the telescopic boom 103, the undulation angle and the telescopic length of the telescopic boom 103 are changed. Based on this, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 may be set to any one of three or more stages. Further, based on the direction of the telescopic boom 103, the undulation angle and the telescopic length of the telescopic boom 103, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 can be arbitrarily controlled in a stepless manner. You may make it set to motive power.

  In the above embodiment, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 are set. However, for example, the tip of the telescopic boom 103 is the vehicle 10. For example, the braking force of one iron wheel 30 in the width direction of the vehicle 10 and the braking force of the other iron wheel 30 may be set to different braking forces.

  In the above embodiment, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 are set to the first braking force or the second braking force, respectively. It is not limited to this. The braking force of one iron wheel 30 in the traveling direction of the vehicle 10 and the braking force of the other iron wheel 30 differ according to the balance between the axial weight of one iron wheel 30 in the traveling direction of the vehicle 10 and the axial weight of the other iron wheel 30. It may be set larger or smaller within the range of the braking force.

  In the above-described embodiment, the braking force of one iron wheel 30 and the braking force of the other iron wheel 30 in the traveling direction of the vehicle 10 are set depending on whether or not the tip of the telescopic boom 103 is directed forward in the traveling direction of the vehicle 10, respectively. Although what was shown was shown, it is not restricted to this. For example, the braking force of one iron wheel 30 in the traveling direction of the vehicle 10 and the braking force of the other iron wheel 30 based on whether the tip of the telescopic boom 103 is directed forward in the traveling direction of the vehicle and the traveling direction of the vehicle 10. You may make it set motive power, respectively.

  DESCRIPTION OF SYMBOLS 1 ... Road-rail high-altitude work vehicle, 10 ... Vehicle, 30 ... Iron wheel, 34 ... Brake, 100 ... Altitude work apparatus, 103 ... Telescopic boom, 200 ... Controller, 201 ... Operation input part, 202 ... Turning position detector, T ... Orbit.

Claims (2)

A traveling body in which a plurality of orbital traveling wheels traveling on the track are arranged in the traveling direction;
Provided on the traveling body, possess a workbench provided at the end portion of the pivot and raise or boom and the boom in the horizontal direction, the rear end portion of the traveling body the platform toward the tip of the boom to the rear A work device that can be placed in a posture in which the height position of the work table is lowered compared to the case where the work table is positioned above the traveling body with the boom tip facing forward by projecting backward. When,
Braking means for braking the rotation of each track running wheel;
A turning position detecting means for detecting a turning position of the boom relative to the traveling body;
Based on the detection result of the turning position detecting means, the rear side of the traveling body is used when traveling on the track in a posture in which the workbench protrudes rearward from the rear end portion of the traveling body with the front end of the boom facing backward. the braking force by the braking means of the track road wheels located, equipped with a braking force setting means for setting to be larger than the braking force by the braking means of the track road wheels located on the front side of the running body A braking force control device for a track-working vehicle characterized by the above. Braking force setting means, pivoted position when the end of the boom by the detecting means detects the turning position, which is backward, the traveling body first braking force of the track traveling wheels Jo Tokoro which is located behind the 2. The track traveling according to claim 1, wherein the braking force is set to a predetermined second braking force that is smaller than the first braking force. A braking force control device for a work vehicle.

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