JPH0546679U - Work vehicle - Google Patents
Work vehicleInfo
- Publication number
- JPH0546679U JPH0546679U JP10826191U JP10826191U JPH0546679U JP H0546679 U JPH0546679 U JP H0546679U JP 10826191 U JP10826191 U JP 10826191U JP 10826191 U JP10826191 U JP 10826191U JP H0546679 U JPH0546679 U JP H0546679U
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- cabin
- traveling
- vehicle height
- inclination angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Landscapes
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
(57)【要約】
走行用機台（５）に対して搭乗作業用機体フレーム（２
２）（２４）を昇降並びに前後傾斜自在に装設させる作
業車において、前記機体フレーム（２２）（２４）の車
高及び前後傾斜角を検出して車高または前後傾斜角が所
定以上のときに最大車速制限など走行規制を自動的に行
うように構成したもので、不安定な車両姿勢を検出して
走行規制を行うから、車両の安定性が悪い状態での異常
走行操作を容易に防止でき、安全性の向上並びに取扱い
操作の簡略化などを容易に行うことができるものであ
る。
(57) [Summary] The machine frame for boarding work (2
2) In a work vehicle in which (24) is mounted so as to be able to move up and down and tilt forward and backward, when the vehicle height and the longitudinal inclination angle of the machine body frame (22) (24) are detected and the vehicle height or the longitudinal inclination angle is equal to or more than a predetermined value. In addition, it is configured to automatically restrict travel such as maximum vehicle speed limit. Since the travel restriction is detected by detecting an unstable vehicle posture, it is easy to prevent abnormal travel operation when the vehicle is in poor stability. Therefore, it is possible to easily improve the safety and simplify the handling operation.
Description
【０００１】[0001]
本考案は例えば地下街などにあって火災や人身事故発生時、消火や救助のため に階段などを走行させ、地下街に乗入れ可能にした傾斜地走行車などの作業車に 関する。 The present invention relates to a work vehicle such as a sloping vehicle that can be entered into an underground mall by running on stairs or the like for extinguishing fire or rescue when a fire or personal accident occurs in an underground mall, for example.
【０００２】[0002]
従来、階段等の傾斜地走行、並びに車高調整による高所作業などを行うとき、 前後水平制御など機体姿勢を自動的に修正して車両の安定性を図る技術があった 。 Conventionally, there was a technology for automatically correcting the attitude of the vehicle, such as front-rear horizontal control, to stabilize the vehicle when running on slopes such as stairs and working at heights by adjusting the vehicle height.
【０００３】[0003]
前記従来技術は、機体の傾斜または車高の変化などによって走行速度またはス ピンターンなどの規制が行われるものではないから、車両の安定性が悪い状態で の異常走行操作を容易に防止し得ない等の取扱い上の問題があった。 In the above-mentioned prior art, since the traveling speed or the spin turn is not regulated by the inclination of the machine body or the change of the vehicle height, it is impossible to easily prevent the abnormal traveling operation in the state where the stability of the vehicle is poor. There was a problem in handling.
【０００４】[0004]
然るに、本考案は、走行用機台に対して搭乗作業用機体フレームを昇降並びに 前後傾斜自在に装設させる作業車において、前記機体フレームの車高及び前後傾 斜角を検出して車高または前後傾斜角が所定以上のときに最大車速制限など走行 規制を自動的に行うように構成したもので、不安定な車両姿勢を検出して走行規 制を行うから、車両の安定性が悪い状態での異常走行操作を容易に防止し得、安 全性の向上並びに取扱い操作の簡略化などを容易に行い得るものである。 Therefore, in the present invention, in a work vehicle in which a boarding work machine frame is mounted on a traveling machine base so as to be able to move up and down and tilt forward and backward, the vehicle height and the longitudinal tilt angle are detected to detect the vehicle height or It is configured to automatically restrict driving such as maximum vehicle speed when the front-rear tilt angle is more than a predetermined value.Unstable vehicle posture is detected, and driving control is performed, resulting in poor vehicle stability. It is possible to easily prevent an abnormal traveling operation in the car, improve safety and simplify the handling operation.
【０００５】[0005]
以下、本考案の一実施例を図面に基づいて詳述する。図１は走行制御回路図、 図２は全体の側面図、図３は同側面説明図、図４は同正面説明図、図５は同背面 説明図、図６は平面説明図であり、図中（１）は傾斜地走行用作業車で、（２） は運転席（３）及び運転操作部（４）などを内設する運転キャビン、（５）は走 行用の左右の前クローラ（６）（７）及び後クローラ（８）（９）を支持する機 台、（１０）は前記運転キャビン（２）の後方下部のエンジンルーム（１１）内 に配設してラジエータ（１２）・オイルクーラ（１３）・エアクリーナ（１４） ・サイレンサ（１５）などを有するエンジン、（１５）は前記エンジンルーム（ １１）内でエンジン（１０）の左側に配設する消火放水用の水ポンプ、（１６） は前記エンジンルーム（１１）内でエンジン（１０）の右側に配設する燃料タン ク、（１７）は前記エンジンルーム（１１）のルーム上部カバーを兼用する作業 機据付台、（１８）は前記据付台（１７）上に設置する作業機である消火ホース 装置であり、前記エンジンルーム（１１）のルーム下部カバー（１９）の後側面 に蝶番（２０）を介し、開放可能に前記据付台（１７）を支持させて、該台（１ ７）の後方開放時エンジン（１０）などのメンテナンスを容易とさせるように構 成している。 Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 1 is a travel control circuit diagram, FIG. 2 is a side view of the whole, FIG. 3 is a side view of the same, FIG. 4 is a front view of the same, FIG. 5 is a back view of the same, and FIG. The middle (1) is a work vehicle for traveling on a slope, (2) is a driving cabin in which a driver's seat (3) and a driving operation unit (4) are installed, and (5) is a left and right front crawler (6). ) (7) and a machine supporting the rear crawlers (8) and (9), and (10) is installed in the engine room (11) at the lower rear part of the operating cabin (2) to dispose the radiator (12) and oil. An engine having a cooler (13), an air cleaner (14), a silencer (15), etc., (15) is a water pump for extinguishing fire, which is arranged on the left side of the engine (10) in the engine room (11), ) Is installed on the right side of the engine (10) in the engine room (11) A fuel tank, (17) is a working machine installation table that also serves as a room upper cover of the engine room (11), and (18) is a fire hose device that is a working machine installed on the installation table (17), A hinge (20) is attached to the rear side of the lower room cover (19) of the engine room (11) to support the installation base (17) so that the base (17) can be opened rearward when the engine (17) is opened. It is configured to facilitate maintenance such as 10).
【０００６】 前記運転キャビン（２）は機台（５）にピッチングつまり前後揺動自在に支持 するもので、前記機台（５）の前端に前支点軸（２１）を介し第１キャビン台（ ２２）の前端を、また該第１キャビン台（２２）の後端に後支点軸（２３）を介 し機体フレームである第２キャビン台（２４）の後端をそれぞれ連結させ、前記 運転キャビン（２）の床面（２５）を第２キャビン台（２４）に固定させ、前記 機台（５）と第１キャビン台（２２）の内側略中央間に各支軸（２６）（２７） を介しキャビン前傾用の第１昇降シリンダ（２８）を、また第１及び第２キャビ ン台（２２）（２４）の外側略中央間に各支軸（２９）（３０）を介しキャビン 後傾用の第２昇降シリンダ（３１）をそれぞれ介設して、これらシリンダ（２８ ）（３１）の何れか一方を伸張動作させるとき前或いは後支点軸（２１）（２３ ）を中心としてキャビン（２）を前傾或いは後傾に傾斜させるように構成してい る。The operating cabin (2) is supported on the machine base (5) so as to be pitched, that is, swingable back and forth, and the first cabin base (21) is attached to the front end of the machine base (5) via the front fulcrum shaft (21). 22), and the rear end of the first cabin stand (22) is connected to the rear end of the second cabin stand (24), which is the body frame, via the rear fulcrum shaft (23), respectively, and the operating cabin The floor surface (25) of (2) is fixed to the second cabin stand (24), and the support shafts (26) (27) are provided between the machine stand (5) and the first cabin stand (22) substantially in the center thereof. The first lifting cylinder (28) for tilting the cabin forward, and the rear of the cabin via the support shafts (29) and (30) between the outer centers of the first and second cabin bases (22) and (24). The second lifting cylinders (31) for tilting are provided respectively, and these cylinders (28) When either one of (31) is extended, the cabin (2) is tilted forward or backward about the front or rear fulcrum shafts (21) and (23).
【０００７】 また、前記キャビン（２）の床面（２５）は凹凸に形成したもので、床面（２ ５）の前後凸部（２５ａ）（２５ｂ）上面に運転席（３）及び後部座席（３２） を設けると共に、該凸部（２５ａ）（２５ｂ）下方に、前記機台（５）に装着す る付属部品である油圧タンク（３３）及びバッテリ（３４）を配設させて、機体 のコンパクト化と機体バランスの安定化を図るように構成している。Further, the floor surface (25) of the cabin (2) is formed in an uneven shape, and the driver's seat (3) and the rear seats are provided on the upper surfaces of the front and rear convex portions (25a) (25b) of the floor surface (25). (32) is provided, and the hydraulic tank (33) and the battery (34), which are accessory parts to be mounted on the machine base (5), are arranged below the convex portions (25a) and (25b), and the machine body is provided. It is configured to be compact and to stabilize the airframe balance.
【０００８】 さらに、左右の前クローラ（６）（７）は前後の遊動及び駆動スプロケット（ ３５）（３６）と中間のトラックローラ（３７）を、また後クローラ（８）（９ ）は前後の駆動及び遊動スプロケット（３６）（３５）と中間のトラックローラ （３７）をそれぞれトラックフレーム（３８）に有し、前記機台（５）下部に支 持する前後横パイプ（３９）（４０）に回動支点軸（４１）を介し各トラックフ レーム（３８）の略中央部を回動自在に連結支持させて、各クローラ（６）（７ ）（８）（９）を支点軸（４１）を中心としてそれぞれ前傾及び後傾状に回動自 在とさせるように構成している。Further, the left and right front crawlers (6) and (7) move forward and backward floating and driving sprockets (35) and (36) and the middle track roller (37), and the rear crawlers (8) and (9) move forward and backward. Drive and idle sprockets (36) (35) and an intermediate track roller (37) are respectively provided on the track frame (38), and on the front and rear lateral pipes (39) (40) supported at the lower part of the machine base (5). The crawler (6), (7), (8), and (9) are supported by the substantially central portion of each track frame (38) via a rotation fulcrum shaft (41) so as to be rotatably supported. It is configured so that it can rotate forward and backward with respect to each other.
【０００９】 またさらに、後部の横パイプ（４０）を機台（５）にブラケット（４２）を介 し取外し可能に固定支持させると共に、前部の横パイプ（３９）を機台（５）の 左右中央に設けるセンターピン（４３）に枢支板（４４）を介して左右揺動自在 に支持して、左右の前クローラ（６）（７）のみを左右スイング可能とさせるよ うに構成している。Furthermore, the rear horizontal pipe (40) is detachably fixedly supported on the machine base (5) through the bracket (42), and the front horizontal pipe (39) is fixed to the machine base (5). A center pin (43) provided at the center of the left and right sides is swingably supported via a pivot support plate (44) so that only the left and right front crawlers (6) (7) can swing left and right. There is.
【００１０】 図７に示す如く、前記の各クローラ（６）（７）（８）（９）は油圧式無段変 速機構（ＨＳＴ）（４５）による左右独立のスピンターンを可能とさせたもので 、前記エンジン（１０）に駆動連結するタンデム形油圧ポンプ（４６）（４７） に、左右後クローラ（８）（９）の駆動スプロケット（３６ｃ）（３６ｄ）を回 転する油圧モータ（４８）（４９）をそれぞれ接続させると共に、左右前クロー ラ（６）（７）の駆動スプロケット（３６ａ）（３６ｂ）のスプロケット軸（５ ０ａ）（５０ｂ）に各自在継手（５１）及びプロペラシャフト（５２）を介して 前記スプロケット（３６ｃ）（３６ｄ）のスプロケット軸（５０ｃ）（５０ｄ） を連動連結させて、変速機構（４５）を形成する左右各一対の油圧ポンプ（４６ ）（４７）及びモータ（４８）（４９）でもって左右各別に前後クローラ（６） （８）・（７）（９）を駆動するように構成している。As shown in FIG. 7, each of the crawlers (6), (7), (8) and (9) described above enables independent left and right spin turns by a hydraulic continuously variable speed change mechanism (HST) (45). A tandem hydraulic pump (46) (47) drivingly connected to the engine (10) is provided with a hydraulic motor (48) for rotating the drive sprockets (36c, 36d) of the left and right rear crawlers (8), (9). ) (49) are connected respectively, and each universal joint (51) and propeller shaft (50) are connected to the sprocket shafts (50a) (50b) of the drive sprockets (36a) (36b) of the left and right front rollers (6) (7). 52) A pair of left and right hydraulic pumps (46) that form a transmission mechanism (45) by interlockingly connecting the sprocket shafts (50c) (50d) of the sprockets (36c) (36d) via (47) and the motors (48) and (49) drive the front and rear crawlers (6), (8), (7) and (9) separately for each of the left and right.
【００１１】 また前記第１及び第２昇降シリンダ（２８）（３１）にソレノイド（５３ａ） （５４ａ）操作式油圧切換弁（５３）（５４）及び分流器（５５）を介して前記 エンジン（１０）に駆動連結する定吐出形油圧ポンプ（５６）を油圧接続させて いる。そして、前記運転操作部（４）に設ける昇降レバー（５７）とＨＳＴ操作 レバー及びペダルである走行変速レバー（５８）及びペダル（５９）とに、電気 系及びリンク系（６０）を介し前記切換弁（５３）（５４）及び変速機構（４５ ）の油圧ポンプ（４６）（４７）をそれぞれ接続させて、運転キャビン（２）の 昇降制御及び機体の走行制御を行うように構成している。The first and second lifting cylinders (28) (31) are connected to the engine (10) via solenoids (53a) (54a) operation type hydraulic pressure switching valves (53) (54) and a flow divider (55). ) Is hydraulically connected to a constant discharge hydraulic pump (56). Then, the switching is performed via an electric system and a link system (60) to an elevating lever (57) provided on the driving operation unit (4), a traveling speed change lever (58) which is an HST operation lever and a pedal, and a pedal (59). The valves (53) and (54) and the hydraulic pumps (46) and (47) of the speed change mechanism (45) are connected to each other so as to control the raising and lowering of the operating cabin (2) and the traveling control of the machine body.
【００１２】 さらに、図８及び図９に示す如く、前記機台（５）と第２キャビン台（２４） の間にプッシュプルワイヤ（６０）の一端側を連結させると共に、ガイド溝（６ １）に沿って移動させる走行変速レバー（５８）のストロークを変更するカムプ レート（６２）を設け、該プレート（６２）に前記ワイヤ（６０）の他端側を連 結させ、前記キャビン（２）の昇降と連動してワイヤ（６０）を介してプレート （６２）をスライドさせ、キャビン（２）の上昇時に変速レバー（５８）のスト ロークを小さくし、最高走行速度の規制を機械的に行うように構成している。Further, as shown in FIGS. 8 and 9, one end side of the push-pull wire (60) is connected between the machine base (5) and the second cabin base (24), and the guide groove (61 ) Is provided with a cam plate (62) for changing the stroke of the traveling speed change lever (58), the other end of the wire (60) is connected to the plate (62), and the cabin (2) The plate (62) is slid through the wire (60) in conjunction with the elevation of the vehicle (2), the stroke of the speed change lever (58) is reduced when the cabin (2) is raised, and the maximum traveling speed is mechanically regulated. Is configured as follows.
【００１３】 さらに、図１及び図８に示す如く、前記昇降シリンダ（２８）（３１）を手動 操作で作動させる手動昇降スイッチ（６３）を運転操作部（４）に設ける。また 前記各キャビン台（２２）（２４）の揺動変位量を検出する前後ポテンショメー タ（６４）（６５）を各支点軸（２１）（２３）上に設ける。また前記油圧ポン プ（４６）（４７）を制御して左側と右側のクローラ（６）（８）及び（７）（ ９）を正逆転させてスピンターン（信地旋回）動作を行わせるスピンターンスイ ッチ（６６）を運転操作部（４）に設ける。また前記各キャビン台（２２）（２ ４）の揺動変位を検出する前後リミットスイッチ（６７）（６８）及びストロー クスイッチ（６９）を機台（５）に設ける。また前記油圧ポンプ（４６）（４７ ）を制御して走行速度を低中高速の三段に切換える走行速度切換スイッチ（７０ ）を運転操作部（４）に設ける。また作業車（１）全体の前後方向の対地傾斜角 を検出する傾斜センサ（７１）を機台（５）に設ける。また前記変速レバー（５ ８）と連動して走行速度を無段階に切換える変速ポテンショメータ（７２）並び に前後進切換検出スイッチ（７３）を設けると共に、前記各油圧ポンプ（４６） （４７）の斜板角度を変更して各ポンプ（４６）（４７）を出力制御する左右変 速コイル（７４）（７５）を設ける。Further, as shown in FIGS. 1 and 8, a manual elevating switch (63) for manually operating the elevating cylinders (28) (31) is provided in the operation operation section (4). Further, front and rear potentiometers (64) (65) for detecting the swing displacement amount of the respective cabin bases (22) (24) are provided on the respective fulcrum shafts (21) (23). In addition, the hydraulic pumps (46) (47) are controlled to rotate the left and right crawlers (6) (8) and (7) (9) in the forward and reverse directions to perform a spin turn operation. A turn switch (66) is provided on the operation control section (4). Further, front and rear limit switches (67) (68) and a stroke switch (69) for detecting the swing displacement of each of the cabin stands (22) (24) are provided on the machine stand (5). In addition, a traveling speed changeover switch (70) for controlling the hydraulic pumps (46) (47) to switch the traveling speed between three stages of low, medium and high speed is provided in the driving operation section (4). Further, an inclination sensor (71) for detecting the inclination angle of the entire working vehicle (1) in the front-rear direction is provided on the machine base (5). Further, a forward / rearward travel changeover detection switch (73) is provided in line with a speed change potentiometer (72) that continuously changes the traveling speed in cooperation with the speed change lever (58), and the inclination of each hydraulic pump (46) (47) is increased. Left and right variable speed coils (74) (75) are provided for changing the plate angle and controlling the output of each pump (46) (47).
【００１４】 そして、マイクロコンピュータで構成する走行コントローラ（７６）を備え、 前記各スイッチ（６３）（６６）（６７）（６８）（６９）（７０）（７３）、 各ポテンショメータ（６４）（６５）（７２）、傾斜センサ（７１）、各変速コ イル（７４）（７５）を前記コントローラ（７６）に接続させるもので、スピン ターンスイッチ（６６）及び走行速度切換スイッチ（７０）及び走行変速レバー （５８）の操作により左右変速コイル（７４）（７５）を作動させ、スピンター ン動作、走行速度の切換並びに前後進の切換による前後進動作を夫々行わせると 共に、手動昇降スイッチ（６３）、前後ポテンショメータ（６４）（６５）、前 後リミットスイッチ（６７）（６８）、ストロークスイッチ（６９）、傾斜セン サ（７１）の出力に基づき、キャビン（２）及び機台（５）の傾斜方向及び傾斜 角度及び車高を検出し、左右変速コイル（７４）（７５）を制御する走行コント ローラ（７６）の出力を制限し、走行用機台（５）に対して搭乗作業用機体フレ ームであるキャビン台（２２）（２４）を昇降並びに前後傾斜自在に装設させる 作業車において、前記キャビン台（２２）（２４）の車高及び前後傾斜角を検出 して車高または前後傾斜角が所定以上のときに最大車速制限など走行規制を自動 的に行うように構成している。A traveling controller (76) including a microcomputer is provided, and the switches (63) (66) (67) (68) (69) (70) (73) and the potentiometers (64) (65) are provided. ) (72), inclination sensor (71), and each shift coil (74) (75) are connected to the controller (76). The spin turn switch (66), the traveling speed changeover switch (70), and the traveling gear change The lever (58) is operated to operate the left and right shift coils (74) (75) to perform the spin turn operation, the traveling speed switching, and the forward / backward switching by the forward / backward switching, respectively, and the manual lifting switch (63). , Front and rear potentiometers (64) (65), front and rear limit switches (67) (68), stroke switch (69), tilt sensor Based on the output of (71), the inclination direction and inclination angle of the cabin (2) and the machine base (5) and the vehicle height are detected, and the right and left shift coils (74) and (75) are controlled by a traveling controller (76). In the working vehicle in which the output is restricted and the cabin platform (22) (24), which is a frame for boarding work, is mounted to the traveling platform (5) so as to be able to move up and down and tilt forward and backward. 22) The vehicle height and the front-rear inclination angle in (24) are detected, and when the vehicle height or the front-rear inclination angle is equal to or more than a predetermined value, traveling restrictions such as maximum vehicle speed limitation are automatically performed.
【００１５】 本実施例は上記の如く構成するものにして、階段などの傾斜路面を走行時、各 クローラ（６）（７）（８）（９）は各支点軸（４１）を中心として路面に沿う 状態に回動して安定且つ牽引力を最大に発揮させて走行を行うことができると共 に、またこの走行中運転キャビン（２）を水平維持させることによって快適にし て安全且つ確実な運転操作が行えるもので、図１０のフローチャートに示す如く 、手動昇降スイッチ（６３）の手動昇降操作により昇降シリンダ（２８）（３１ ）を作動させることにより、キャビン（２）が昇降及び前後傾斜する手動昇降動 作を行い、キャビン（２）を所定高さで略水平に支持させる。なお、キャビン（ ２）の前後傾斜を検出する傾斜センサを設け、または機台（５）の傾斜センサ（ ７１）を用い、キャビン（２）の前後傾斜を検出して昇降シリンダ（２８）（３ １）を自動制御し、キャビン（２）の水平制御を自動的に行わせることもできる 。The present embodiment is configured as described above, and when traveling on a sloped road surface such as stairs, the crawlers (6) (7) (8) (9) center on the fulcrum shaft (41) as a center. In addition to being able to drive with stable and maximum traction by rotating along the lane, the driving cabin (2) can be kept horizontal during driving for comfortable, safe and reliable driving. As shown in the flow chart of FIG. 10, the manual lifting / lowering switch (63) manually moves the lifting / lowering cylinders (28) (31) to move the cabin (2) up and down and tilt forward and backward. Raise and lower to support the cabin (2) at a predetermined height in a substantially horizontal direction. It should be noted that an inclination sensor for detecting the longitudinal inclination of the cabin (2) is provided, or the inclination sensor (71) of the machine base (5) is used to detect the longitudinal inclination of the cabin (2) and the lifting cylinders (28) (3) are detected. It is also possible to automatically control 1) and automatically control the cabin (2) horizontally.
【００１６】 また、図１０のフローチャートに示す如く、前後リミットスイッチ（６７）（ ６８）、前後ポテンショメータ（６４）（６５）、傾斜センサ（７１）、ストロ ークスイッチ（６９）、ポテンショメータ（７２）の変速レバー（５８）位置、 走行速度切換スイッチ（７０）の各出力を入力させ、機体を形成するキャビン（ ２）の前後傾斜方向及び傾斜角度及び車高をコントローラ（７６）で演算させる もので、キャビン（２）が水平で車高が低い状態にある通常走行ＯＫのときで、 走行速度が所定以下のスピンターンＯＫのとき、スピンターンスイッチ（６６） をオン操作することにより、左回りまたは右回りで信地旋回して方向転換するス ピンターン動作を行うと共に、キャビン（２）が機台（５）に対して傾斜してい るとき、またはキャビン（２）が上昇していて車高が所定以上のとき、通常走行 ＯＫがノウとなって最大車速が制限され、変速ポテンショメータ（７２）の変化 量を圧縮した変速信号を左右変速コイル（７４）（７５）に出力され、変速レバ ー（５８）のストロークを略一定に保った状態で変速動作だけを低速側に縮少さ せ、変速レバー（５８）操作量に対する変速出力比を小さくする減速動作を行わ せ、最大車速を制限するように走行速度を自動的に規制するものである。Further, as shown in the flow chart of FIG. 10, gear shifting of the front and rear limit switches (67) (68), front and rear potentiometers (64) (65), tilt sensor (71), stroke switch (69), potentiometer (72). The controller (76) calculates the front-back inclination direction and inclination angle of the cabin (2) forming the machine body and the vehicle height by inputting each output of the lever (58) position and the traveling speed changeover switch (70). When (2) is normal running OK with the vehicle height being low and horizontal, and when the running speed is a spin turn OK below a predetermined speed, turning the spin turn switch (66) ON turns the wheel counterclockwise or clockwise. The cabin (2) is tilted with respect to the machine base (5) as well as performing a spin-turn operation to turn and turn around At this time, or when the cabin (2) is raised and the vehicle height is above a predetermined level, the normal running OK becomes a no, the maximum vehicle speed is limited, and the shift signal that compresses the change amount of the shift potentiometer (72) is shifted to the left or right. It is output to the coils (74) and (75), and only the shift operation is reduced to the low speed side while the stroke of the shift lever (58) is kept substantially constant, and the shift output ratio with respect to the operation amount of the shift lever (58). The vehicle speed is automatically regulated so as to limit the maximum vehicle speed by performing deceleration operation to reduce the vehicle speed.
【００１７】[0017]
以上実施例から明らかなように本考案は、走行用機台（５）に対して搭乗作業 用機体フレーム（２２）（２４）を昇降並びに前後傾斜自在に装設させる作業車 において、前記機体フレーム（２２）（２４）の車高及び前後傾斜角を検出して 車高または前後傾斜角が所定以上のときに最大車速制限など走行規制を自動的に 行うように構成したもので、不安定な車両姿勢を検出して走行規制を行うから、 車両の安定性が悪い状態での異常走行操作を容易に防止でき、安全性の向上並び に取扱い操作の簡略化などを容易に行うことができるものである。 As is apparent from the above-described embodiments, the present invention provides a working vehicle in which the boarding work machine frames (22) and (24) are mounted on the traveling machine base (5) so as to be able to move up and down and tilt forward and backward. (22) It is configured to detect the vehicle height and the front-rear inclination angle of (24) and automatically perform the travel restrictions such as the maximum vehicle speed limitation when the vehicle height or the front-rear inclination angle is more than a predetermined value. Since the vehicle posture is detected and the travel is regulated, abnormal running operation can be easily prevented when the vehicle is in poor stability, and safety can be improved and handling operation can be simplified easily. Is.
【図１】走行制御回路図。FIG. 1 is a travel control circuit diagram.
【図２】全体の側面図。FIG. 2 is an overall side view.
【図３】同側面説明図。FIG. 3 is an explanatory side view of the same.
【図４】同正面説明図。FIG. 4 is a front explanatory view of the same.
【図５】同背面説明図。FIG. 5 is a rear explanatory view of the same.
【図６】同平面説明図。FIG. 6 is an explanatory view of the same plane.
【図７】走行駆動説明図。FIG. 7 is a driving driving explanatory diagram.
【図８】昇降動作説明図。FIG. 8 is an explanatory diagram of a lifting operation.
【図９】変速レバー部の説明図。FIG. 9 is an explanatory diagram of a shift lever portion.
【図１０】図１のフローチャート。10 is a flowchart of FIG.
（５） 機台 （２２）（２４） キャビン台（機体フレーム） (5) Machine stand (22) (24) Cabin stand (machine frame)
Claims (1)
ームを昇降並びに前後傾斜自在に装設させる作業車にお
いて、前記機体フレームの車高及び前後傾斜角を検出し
て車高または前後傾斜角が所定以上のときに最大車速制
限など走行規制を自動的に行うように構成したことを特
徴とする作業車。1. A working vehicle in which a boarding work machine frame is mounted on a traveling machine frame so as to be able to move up and down and tilt forward and backward, and a vehicle height or a longitudinal tilt is detected by detecting a vehicle height and a longitudinal inclination angle of the machine body frame. A working vehicle characterized in that it is configured to automatically perform travel restrictions such as maximum vehicle speed limitation when the corner is above a predetermined angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1991108261U JP2583500Y2 (en) | 1991-12-02 | 1991-12-02 | Work vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1991108261U JP2583500Y2 (en) | 1991-12-02 | 1991-12-02 | Work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0546679U true JPH0546679U (en) | 1993-06-22 |
| JP2583500Y2 JP2583500Y2 (en) | 1998-10-22 |
Family
ID=14480171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1991108261U Expired - Lifetime JP2583500Y2 (en) | 1991-12-02 | 1991-12-02 | Work vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2583500Y2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07315243A (en) * | 1994-05-20 | 1995-12-05 | Seirei Ind Co Ltd | Steering safety device for mobile agricultural machine |
| JPH09240312A (en) * | 1996-03-12 | 1997-09-16 | Yanmar Diesel Engine Co Ltd | Tractor vehicle |
| JPH10281280A (en) * | 1997-04-10 | 1998-10-23 | Mitsubishi Automob Eng Co Ltd | Traveling control device of car height adjustment type vehicle |
| JP2002340182A (en) * | 2001-05-14 | 2002-11-27 | Ishikawajima Shibaura Mach Co Ltd | Vehicle speed control mechanism of work vehicle |
| JP2004306958A (en) * | 2004-08-09 | 2004-11-04 | Yanmar Co Ltd | Crawler-type truck |
| JP2018145705A (en) * | 2017-03-07 | 2018-09-20 | 株式会社小松製作所 | Work vehicle |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5427125A (en) * | 1977-08-03 | 1979-03-01 | Komatsu Ltd | Base carrier system for off-road vehicle |
| JPH03128899A (en) * | 1989-10-13 | 1991-05-31 | Komatsu Ltd | Gear change control method for industrial vehicle |
-
1991
- 1991-12-02 JP JP1991108261U patent/JP2583500Y2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5427125A (en) * | 1977-08-03 | 1979-03-01 | Komatsu Ltd | Base carrier system for off-road vehicle |
| JPH03128899A (en) * | 1989-10-13 | 1991-05-31 | Komatsu Ltd | Gear change control method for industrial vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07315243A (en) * | 1994-05-20 | 1995-12-05 | Seirei Ind Co Ltd | Steering safety device for mobile agricultural machine |
| JPH09240312A (en) * | 1996-03-12 | 1997-09-16 | Yanmar Diesel Engine Co Ltd | Tractor vehicle |
| JPH10281280A (en) * | 1997-04-10 | 1998-10-23 | Mitsubishi Automob Eng Co Ltd | Traveling control device of car height adjustment type vehicle |
| JP2002340182A (en) * | 2001-05-14 | 2002-11-27 | Ishikawajima Shibaura Mach Co Ltd | Vehicle speed control mechanism of work vehicle |
| JP2004306958A (en) * | 2004-08-09 | 2004-11-04 | Yanmar Co Ltd | Crawler-type truck |
| JP2018145705A (en) * | 2017-03-07 | 2018-09-20 | 株式会社小松製作所 | Work vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2583500Y2 (en) | 1998-10-22 |
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| EXPY | Cancellation because of completion of term |