JPH06156325A - Working vehicle - Google Patents
Working vehicleInfo
- Publication number
- JPH06156325A JPH06156325A JP4320813A JP32081392A JPH06156325A JP H06156325 A JPH06156325 A JP H06156325A JP 4320813 A JP4320813 A JP 4320813A JP 32081392 A JP32081392 A JP 32081392A JP H06156325 A JPH06156325 A JP H06156325A
- Authority
- JP
- Japan
- Prior art keywords
- cabin
- tilting
- height
- lift cylinder
- rearward
- 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.)
- Granted
Links
- 108010066114 cabin-2 Proteins 0.000 abstract description 22
- 230000003028 elevating effect Effects 0.000 abstract description 5
- 238000006073 displacement reaction Methods 0.000 abstract 2
- 238000009434 installation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Component Parts Of Construction Machinery (AREA)
- Body Structure For Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
- Vehicle Step Arrangements And Article Storage (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、例えば階段などを地下
街に乗入れ、火災など事故発生時に救助作業などを行う
作業車に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work vehicle for carrying out rescue work when an accident such as a fire occurs by, for example, putting a stairway in an underground mall.
【０００２】[0002]
【従来の技術】従来、機体の前後傾斜に対して運転者の
キャビンを略水平に保ちながら階段などを昇降させる技
術が存在する。2. Description of the Related Art Conventionally, there is a technique for moving up and down stairs while keeping the cabin of the driver substantially horizontal with respect to the forward and backward inclination of the body.
【０００３】[0003]
【発明が解決しようとする課題】ところが、上記従来技
術においては、機体が階段などを下向き走行又は上向き
走行させるに際して運転者用のキャビンを上下に昇降す
る場合は、いきなり運転者用キャビンが上下に作動する
ものであったから、運転者は、恐怖感を持ち、運転操作
が円滑にできないものであった。However, in the above-mentioned prior art, when the cabin of the driver is moved up and down when the aircraft is traveling downward or upward on stairs, the cabin of the driver is suddenly moved up and down. Since it operated, the driver had a feeling of fear and was unable to smoothly drive.
【０００４】また、恐怖感を持った場合は、誤操作を行
い易く、作業を安全に、かつ、能率的に行うことができ
ないものであった。In addition, when a person has a fear, he / she is likely to make an erroneous operation, and cannot carry out work safely and efficiently.
【０００５】[0005]
【課題を解決するための手段】そこで、本発明では、機
体の前後傾斜に対して運転者用のキャビンを、後傾用昇
降シリンダと前傾用昇降シリンダにより上下昇降せしめ
て支持し、同キャビンを略水平状に保ち乍ら走行する作
業車において、上記キャビンの上下昇降を、第１段階で
は、後傾用昇降シリンダ(31)側を先に作動させて、同キ
ャビンを所定の高さに上下移動させ、第２段階では、前
傾用昇降シリンダを作動させてキャビンを略水平状態に
保持すべく制御を行うことを特徴とする作業車を提供せ
んとするものである。Therefore, in the present invention, a cabin for a driver is supported by being vertically moved up and down by a rearward tilting lift cylinder and a forward tilting lift cylinder with respect to a forward and backward tilt of the machine body. In a work vehicle that travels while keeping the cabin substantially horizontal, in the first stage, the cabin is moved up and down in the first stage by operating the backward tilting elevator cylinder (31) side first. It is intended to provide a work vehicle characterized by being moved up and down, and in the second stage, control is performed so as to operate the forward tilting lift cylinder to keep the cabin in a substantially horizontal state.
【０００６】[0006]
【実施例】本考案の実施例を図面に基づき具体的に説明
すると、１は傾斜地走行用の作業車で、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は前記キャビン２の後方下部のエンジン
ルームで、同エンジンルーム10内にはエンジン12及び消
火放出用の水ポンプなどを配設している。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be specifically described with reference to the drawings. 1 is a work vehicle for traveling on a slope, 2 is a driver's seat 3,
And a cabin 5 in which a driving operation unit 4 and the like are installed, 5 is a machine stand for supporting the left and right front crawlers 6 and 7 and rear crawlers 8 and 9, and 10 is an engine room in the lower rear part of the cabin 2, In the engine room 10, an engine 12 and a water pump for extinguishing a fire are arranged.
【０００７】17は前記エンジンルーム10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る。Reference numeral 17 is a working machine installation base that also serves as a room upper cover of the engine room 10, and 18 is a fire hose device which is a working machine installed on the installation base 17.
【０００８】前記キャビン２は機台５に対して前後揺動
自在に支持されており、前記機台５の前端に前支点軸21
を介して第１キャビン台22の前端を連結させている。The cabin 2 is supported so as to be swingable back and forth with respect to the machine base 5, and a front fulcrum shaft 21 is provided at the front end of the machine base 5.
The front end of the first cabin stand 22 is connected via the.
【０００９】また、該第１キャビン台22の後端に後支点
軸23を介し、第２キャビン台24の後端を連結させ、前記
運転者用のキャビン２の床面25を第２キャビン台24に固
定させている。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 を介してキャビンを前傾させる前
傾用昇降シリンダ28を設けている。Further, the rear end of the second cabin stand 24 is connected to the rear end of the first cabin stand 22 via the rear fulcrum shaft 23, and the floor surface 25 of the cabin 2 for the driver is connected to the second cabin stand. It is fixed at 24. A forward tilting lift cylinder 28 that tilts the cabin forward through the support shafts 26 and 27 is provided between the machine base 5 and the center of the inner side of the first cabin base 22.
【００１０】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 を介してキャビンを後傾させる
後傾用昇降シリンダ31を設け、各シリンダ28,31 を伸縮
動作させることによって前或は後支点軸21,23 を中心に
キャビン２を前傾或は後傾させるように構成している。Further, a rear tilting elevating cylinder 31 for tilting the cabin rearward is provided between the outermost centers of the first and second cabin bases 22 and 24 via the respective support shafts 29 and 30, and the cylinders 28 and 31 are expanded and contracted. The cabin 2 is configured to be tilted forward or backward about the front or rear fulcrum shafts 21 and 23 by being operated.
【００１１】また、図５において、32は、機台５の略中
央部に設ける前後方向の傾斜角を検出する傾斜角センサ
である。33はキャビン２の前傾を行う前傾用昇降シリン
ダ28に設ける後ストロークセンサ、34はキャビン２の後
傾を行う後傾用昇降シリンダ31に設ける前ストロークセ
ンサ、35は手動スイッチであって、これらはコントロー
ラ36に接続されている。Further, in FIG. 5, reference numeral 32 denotes an inclination angle sensor which is provided at a substantially central portion of the machine base 5 and detects an inclination angle in the front-rear direction. Reference numeral 33 is a rear stroke sensor provided on the forward-tilting lift cylinder 28 that tilts the cabin 2 forward, 34 is a front stroke sensor provided on the rear-tilt lift cylinder 31 that tilts the cabin 2 backward, and 35 is a manual switch. These are connected to the controller 36.
【００１２】37は、前記前傾用昇降シリンダ28を上下動
させるソレノイドバルブ、38は後傾用昇降シリンダ31を
上下動させるソレノイドバルブである。Reference numeral 37 is a solenoid valve for vertically moving the forward / downward lifting cylinder 28, and 38 is a solenoid valve for vertically moving the backward / inclining lifting cylinder 31.
【００１３】また、40はキャビン２に固定された燃料タ
ンクであって燃料の液面は常に水平となるようにしてい
る。A fuel tank 40 is fixed to the cabin 2 so that the liquid level of the fuel is always horizontal.
【００１４】41は前記運転者用キャビン２の高さを設定
する高さ設定器である。Reference numeral 41 is a height setting device for setting the height of the driver's cabin 2.
【００１５】また、上記キャビン２の上下昇降を行う前
傾用昇降シリンダ28と後傾用昇降シリンダ31とは、コン
トローラ36によって、以下のように制御される。The forward / backward tilting cylinder 28 and the backward tilting / lowering cylinder 31 for vertically moving the cabin 2 are controlled by the controller 36 as follows.
【００１６】まず、キャビン２を上方に上昇させる場合
は、第１段階では、後傾用昇降シリンダ31側が先に作動
して、同キャビン２を所定の高さに上昇させる。次に、
第２段階では、前傾用昇降シリンダ28を作動させてキャ
ビン２を略水平状態に保持するものである。First, when raising the cabin 2 upward, in the first stage, the backward tilting elevating cylinder 31 side operates first to raise the cabin 2 to a predetermined height. next,
In the second stage, the forward tilting lift cylinder 28 is operated to hold the cabin 2 in a substantially horizontal state.
【００１７】上記の制御手段をフローチャートで示すと
図６から図９に示す通りである。The above-mentioned control means is shown in a flowchart as shown in FIGS. 6 to 9.
【００１８】図６〜図９において、電源を投入して手動
操作(101) を行うと、前高さセンサ(102) がキャビンの
前高さを記憶HDする。6 to 9, when the power is turned on and the manual operation (101) is performed, the front height sensor (102) stores the front height of the cabin HD.
【００１９】次に、傾斜各センサ(103) により本機が水
平になったかをチェックする。そして、本機前上り(10
4) のときは前高さセンサ(105) の値が記憶HDされた値
と同一であるかを比較しながら、前傾用昇降シリンダ位
置が変更されていないかをチェックする。そして、前高
さセンサ値が記憶値HDより大きい(106) ときは、前下降
ソレノイドを励磁(107) し、前高センサの値が記憶HDと
同一になったときに停止する。Next, it is checked by the tilt sensors (103) whether the machine is horizontal. And, in front of this machine (10
In the case of 4), the value of the front height sensor (105) is compared with the value stored in the memory HD, and it is checked whether the position of the forward / downward tilting cylinder has been changed. Then, when the front height sensor value is larger than the stored value HD (106), the front descending solenoid is excited (107), and when the front height sensor value becomes the same as the stored HD, the operation is stopped.
【００２０】また、傾斜角センサの値から、後ストロー
クセンサの値と前ストロークセンサ値の差を引いたＤを
Ｄ＝2.5 でキャビンが水平を保つように設定(108) した
場合は、Ｄ＞2.5(109)でキャビンが水平になったかをチ
ェックし、同キャビンが前上り(110) であれば、前シリ
ンダ位置が変更されていないかをチェック(111) し、変
更されている場合は、前下降ソレノイドが励磁(112) さ
れる。また、前傾用昇降シリンダ位置が変更されていな
い場合は後上昇ソレノイドが励磁(113) される。なお、
後傾用昇降シリンダ位置が上限のときは、前下降ソレノ
イド励磁(114)となる。Further, if D, which is obtained by subtracting the difference between the value of the rear stroke sensor and the value of the front stroke sensor from the value of the tilt angle sensor, is set so that the cabin is kept horizontal at D = 2.5 (108), D> At 2.5 (109), check whether the cabin has become horizontal.If the cabin is at the front ascent (110), check whether the front cylinder position has been changed (111). The forward descending solenoid is energized (112). Further, when the position of the lifting / lowering cylinder is not changed, the backward lifting solenoid is excited (113). In addition,
When the backward tilting lift cylinder position is at the upper limit, the front lowering solenoid is excited (114).
【００２１】また、Ｄ＞2.5 のときキャビン後上り(11
5) では前上昇ソレノイド励磁(116)、又は後下降ソレノ
イド励磁(117) となる。なお、後傾用昇降シリンダ位置
が上限のときは、前上昇ソレノイド励磁(118) となる。Further, when D> 2.5, the cabin goes up (11
In 5), the front rising solenoid is energized (116) or the rear falling solenoid is energized (117). It should be noted that when the position of the rearward-elevating lift cylinder is at the upper limit, the forward lift solenoid is energized (118).
【００２２】本発明の実施例は上記のように構成されて
おり、したがって、エンジン12を始動させて機体を前進
させながら、キャビン２を一定高さに保持して傾斜面や
上り階段を上昇すると、図３に示す如く、機台５に設け
る傾斜角センサ32が角度を検出し前傾用昇降シリンダ28
が伸張して、第１キャビン台22を上昇させる。そして、
同前傾用昇降シリンダ28に設ける後ストロークセンサ33
がキャビン２の高さを検出して所定の高さまで上昇させ
る。次に後傾用昇降シリンダ31により第２キャビン台24
を上昇させ、同後傾用昇降シリンダ31に設けるスロトー
クセンサ34によりキャビン２の水平状態を検出しながら
同キャビン２を水平状態に保持するものである。The embodiment of the present invention is constructed as described above. Therefore, when the cabin 12 is held at a constant height while the engine 12 is started to move the vehicle forward, the slope and the stairs are raised. As shown in FIG. 3, a tilt angle sensor 32 provided on the machine base 5 detects the angle, and the lifting cylinder 28 for forward tilting is used.
Extends to raise the first cabin base 22. And
Rear stroke sensor 33 provided on the lifting cylinder 28 for forward tilt
Detects the height of the cabin 2 and raises it to a predetermined height. Next, using the lift cylinder 31 for rearward tilting,
Is raised and the horizontal state of the cabin 2 is held while the horizontal state of the cabin 2 is detected by the slot talk sensor 34 provided on the backward tilting lift cylinder 31.
【００２３】以上の如く、上記実施例によれば、機体の
前後傾斜に対して運転者用のキャビン２を、後傾用昇降
シリンダ31と前傾用昇降シリンダ28により上下昇降せし
めて支持し、同キャビンを略水平状に保ち乍ら走行する
作業車において、上記キャビン２の上下昇降を、第１段
階では、後傾用昇降シリンダ31側を先に作動させて、同
キャビン２を所定の高さに上下移動させ、第２段階で
は、前傾用昇降シリンダ28を作動させてキャビン２を略
水平状態に保持すべく制御を行う作業車であるから、機
体に対するキャビンの高さが所定の位置に自動的にセッ
トされるものである。As described above, according to the above-described embodiment, the cabin 2 for the driver is supported by being vertically moved up and down by the backward tilting lift cylinder 31 and the forward tilting lift cylinder 28 with respect to the longitudinal tilt of the machine body. In a work vehicle that travels while keeping the cabin substantially horizontal, the cabin 2 is vertically moved up and down in the first stage by operating the backward tilting elevating cylinder 31 side first to move the cabin 2 to a predetermined height. In the second stage, the work vehicle performs control so as to keep the cabin 2 in a substantially horizontal state by operating the forward tilting lift cylinder 28. Therefore, the height of the cabin with respect to the body is at a predetermined position. Is automatically set to.
【００２４】また、キャビンの高さを変更する場合は、
先に後傾用昇降シリンダ側が先に作動するので運転者は
第１段階では目の位置が大幅に変わらないので恐怖感が
少ないものである。When changing the height of the cabin,
Since the backward tilting lift cylinder side first operates first, the driver does not feel much fear because the eye position does not change significantly in the first stage.
【００２５】[0025]
【発明の効果】本発明によれば、機体の前後傾斜に対し
て運転者用のキャビンを、後傾用昇降シリンダと前傾用
昇降シリンダにより上下昇降せしめて支持し、同キャビ
ンを略水平状に保ち乍ら走行する作業車において、上記
キャビンの上下昇降を、第１段階では、後傾用昇降シリ
ンダ側を先に作動させて、同キャビンを所定の高さに上
下移動させ、第２段階では、前傾用昇降シリンダを作動
させてキャビンを略水平状態に保持すべく制御を行う作
業車であるから、機体に対するキャビンの高さが所定の
位置に自動的にセットされるものである。According to the present invention, a cabin for a driver is supported by being vertically moved up and down by a backward tilting lift cylinder and a forward tilting lift cylinder with respect to a longitudinal tilt of a machine body, and the cabin is substantially horizontal. In a work vehicle that keeps running, the first step is to move the cabin up and down to a predetermined height by operating the backward tilting lift cylinder side first in the first step. Since the work vehicle controls the forward tilting lift cylinder to maintain the cabin in a substantially horizontal state, the height of the cabin with respect to the machine body is automatically set to a predetermined position.
【００２６】また、キャビンの高さを変更する場合は、
先に後傾用昇降シリンダ側が先に作動するので運転者は
第１段階では目の位置が大幅に変わらないので恐怖感が
少ないものである。When changing the height of the cabin,
Since the backward tilting lift cylinder side first operates first, the driver does not feel much fear because the eye position does not change significantly in the first stage.
【図１】本発明に係る作業車の全体側面図。FIG. 1 is an overall side view of a work vehicle according to the present invention.
【図２】同要部平面図。FIG. 2 is a plan view of the relevant part.
【図３】作業車を上り斜面に位置させた状態を示す側面
図。FIG. 3 is a side view showing a state in which the work vehicle is located on an uphill slope.
【図４】作業車のキャビンを一定の高さに上昇させた状
態を示す側面図。FIG. 4 is a side view showing a state where the cabin of the work vehicle is raised to a certain height.
【図５】制御回路図。FIG. 5 is a control circuit diagram.
【図６】図５のフローチャートFIG. 6 is a flowchart of FIG.
【図７】図５のフローチャート7 is a flowchart of FIG.
【図８】図５のフローチャート8 is a flowchart of FIG.
【図９】図５のフローチャート9 is a flowchart of FIG.
１ 作業車 ２ キャビン ５ 機台 28 前傾用昇降シリンダ 31 後傾用昇降シリンダ 32 傾斜センサー 36 コントローラ 1 Work vehicle 2 Cabin 5 Machine stand 28 Lifting cylinder for forward tilt 31 Lifting cylinder for backward tilt 32 Tilt sensor 36 Controller
Claims (1)
ビン(2) を、後傾用昇降シリンダ(31)と前傾用昇降シリ
ンダ(28)により上下昇降せしめて支持し、同キャビンを
略水平状に保ち乍ら走行する作業車において、 上記キャビン(2) の上下昇降を、第１段階では、後傾用
昇降シリンダ(31)側を先に作動させて、同キャビン(2)
を所定の高さに上下移動させ、第２段階では、前傾用昇
降シリンダ(28)を作動させてキャビン(2) を略水平状態
に保持すべく制御を行うことを特徴とする作業車。1. A cabin (2) for a driver is tilted up and down by a backward tilting lift cylinder (31) and a forward tilting lift cylinder (28) to support the cabin with respect to the forward and backward tilt of the body. In a work vehicle that travels while maintaining a substantially horizontal shape, the cabin (2) is vertically moved up and down, and in the first stage, the backward tilting lift cylinder (31) side is actuated first to move the cabin (2).
Is moved up and down to a predetermined height, and in the second stage, the forward tilting lift cylinder (28) is actuated to control the cabin (2) so that the cabin (2) is kept substantially horizontal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4320813A JP3062365B2 (en) | 1992-11-30 | 1992-11-30 | Work vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4320813A JP3062365B2 (en) | 1992-11-30 | 1992-11-30 | Work vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06156325A true JPH06156325A (en) | 1994-06-03 |
| JP3062365B2 JP3062365B2 (en) | 2000-07-10 |
Family
ID=18125522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4320813A Expired - Fee Related JP3062365B2 (en) | 1992-11-30 | 1992-11-30 | Work vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3062365B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014121999A1 (en) * | 2013-02-05 | 2014-08-14 | Eugen Studer | Vehicle |
| DE102016205047A1 (en) * | 2016-03-24 | 2017-09-28 | Kässbohrer Geländefahrzeug AG | Civil tracked vehicle |
| JP2024039711A (en) * | 2022-09-12 | 2024-03-25 | 有限会社長若建設 | Crawler work vehicle of lifting type |
-
1992
- 1992-11-30 JP JP4320813A patent/JP3062365B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014121999A1 (en) * | 2013-02-05 | 2014-08-14 | Eugen Studer | Vehicle |
| CH707606A1 (en) * | 2013-02-05 | 2014-08-15 | Studersond Ag | Vehicle. |
| CN105121263A (en) * | 2013-02-05 | 2015-12-02 | 尤金·斯图特 | Vehicle |
| US20150367901A1 (en) * | 2013-02-05 | 2015-12-24 | Eugen Studer | Vehicle |
| DE102016205047A1 (en) * | 2016-03-24 | 2017-09-28 | Kässbohrer Geländefahrzeug AG | Civil tracked vehicle |
| JP2024039711A (en) * | 2022-09-12 | 2024-03-25 | 有限会社長若建設 | Crawler work vehicle of lifting type |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3062365B2 (en) | 2000-07-10 |
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