Work vehicle

Abstract

Provided is a work vehicle in which an electric drive device is detachably attached to a traveling body, said work vehicle being capable of improving safety in a work mode and a traveling mode. The work vehicle comprises: a traveling body; a revolving body that is rotatably supported on the traveling body; work equipment that is provided on the traveling body and the revolving body; a drive device attachment portion that is provided on one end portion in a first direction of the traveling body and to which an electric drive device for driving the work equipment is detachably attached; a weight attachment portion that is provided on the other end portion opposite to the one end portion in the first direction of the traveling body, and to which a weight for offsetting the weight of the electric drive device is detachably attached; a first sensor that detects the electric drive device attached to the drive device attachment portion; a second sensor that detects the weight attached to the weight attachment portion; and a control unit that performs safety control on the basis of detection results of the first sensor and the second sensor.

Description

Work vehicle

[0001] The present disclosure relates to a work vehicle.

[0002] Conventionally, as disclosed in Patent Document 1, there is known a work vehicle including a traveling body, a revolving body rotatably supported by the traveling body, a boom which is a working device provided on the revolving body, and a counterweight capable of changing the lifting load of the boom. Usually, the counterweight is detachably provided on the side of the revolving body opposite to the tip side of the boom (the side where the suspended load is placed).

[0003] In such a work vehicle, since the lifting load of the boom varies depending on the mounting state of the counterweight on the revolving body, the mounting state of the counterweight is detected and the weight mounting state is notified.

[0004] In addition, as a work vehicle provided with a working device, there is a work vehicle configured to drive the working device by an electric drive device detachably mounted on the traveling body.

[0005] Japanese Patent No. 3161674

[0006] Since the above-described electric drive device is a heavy object, the weight balance of the work vehicle changes between the state where the electric drive device is mounted and the state where it is not mounted, and the lifting load of the boom also changes. Therefore, it is preferable to limit the operation of the working device such as the boom according to the mounting state of the electric drive device.

[0007] Furthermore, in a work vehicle equipped with an electric drive device, by mounting a balance weight on the traveling body to offset the weight of the electric drive device, the lifting load of the boom can be made equivalent to the case where the electric drive device is not mounted.

[0008] An object of the present disclosure is to provide a work vehicle in which an electric drive device is detachably mounted on a traveling body, and which can improve safety in a working mode and a traveling mode.

[0009] The work vehicle according to this disclosure comprises: a traveling body; a slewing body rotatably supported on the traveling body; work equipment provided on the traveling body and the slewing body; a drive device mounting section provided at one end of the traveling body in a first direction, to which an electric drive device for driving the work equipment is detachably mounted; a weight mounting section provided at the other end of the traveling body opposite to the one end in a first direction, to which a weight for offsetting the weight of the electric drive device is detachably mounted; a first sensor for detecting the electric drive device mounted on the drive device mounting section; a second sensor for detecting the weight mounted on the weight mounting section; and a control unit for performing safety control based on the detection results of the first and second sensors.

[0010] According to this disclosure, safety in both the work mode and the driving mode can be improved in a work vehicle in which an electric drive system is detachably attached to the vehicle body.

[0011] Figure 1 is a schematic perspective view of the crane. Figure 2 is a plan view showing the interior of the cabin. Figure 3 is a block diagram showing the configuration of the control system. Figure 4 is a perspective view showing the lifting of a base plate by a work vehicle with its front and rear wheels on the ground and setting it at the ground contact position of the outriggers. Figure 5 is a perspective view showing the crane with the outriggers on the ground via the base plate. Figure 6 is a perspective view showing the arrangement of the electric drive unit and weights around the crane with the outriggers on the ground via the base plate. Figure 7 is a perspective view showing the lifting of the weights by the crane with the outriggers on the ground via the base plate and attaching them to the base plate holder. Figure 8 shows the lifting of the electric drive unit by the crane after the weights have been attached to the base plate holder and attaching it to the drive unit mounting section. Figure 9 is a perspective view showing the crane with both the weights and the electric drive unit attached to the vehicle. Figure 10 is a plan view showing the tipping point of the crane.

[0012] Next, embodiments for carrying out the present invention will be described with reference to the attached drawings.

[0013] [Crane] The crane 1 shown in Figures 1 and 2 is an embodiment of a work vehicle according to the present invention. The crane 1 comprises a traveling body 2 and a slewing body 3. The crane 1 is configured to be switchable between a traveling mode in which it travels using the traveling body 2 and a working mode in which it performs work using work equipment.

[0014] The mobile unit 2 is equipped with a pair of front wheels 21 and rear wheels 22, and is configured to be mobile. When the crane 1 is switched to mobile mode, it can be moved by the mobile unit 2. The mobile unit 2 is also equipped with outriggers 23 that are grounded to provide stability when transporting loads W. The outriggers 23 are an example of work equipment.

[0015] The outrigger 23 has a front outrigger 23a and a rear outrigger 23b. The pair of front outriggers 23a extend outwards to both sides in the left-right direction and make contact with the ground at the front end of the vehicle 2. The pair of rear outriggers 23b extend outwards to both sides in the left-right direction and make contact with the ground at the rear end of the vehicle 2. The front-rear direction is an example of a first direction. The front end of the vehicle 2 is an example of the other end of the vehicle in the first direction, and the rear end of the vehicle 2 is an example of the one end of the vehicle in the first direction. The left-right direction is an example of a width direction perpendicular to the first direction.

[0016] The outriggers 23 are configured to be extendable and retractable by a hydraulic actuator provided in the vehicle body 2. When extended by the hydraulic actuator, the outriggers 23 extend out from the vehicle body 2 and make contact with the ground, supporting the vehicle body 2. When retracted by the hydraulic actuator, the outriggers 23 are retracted into the vehicle body 2.

[0017] The traveling body 2 has a base plate holder 24 capable of holding a base plate 81 to be laid between the outrigger 23 and the ground at the work site S. The outrigger 23 is extended when the crane 1 is in working mode. The base plate 81 can be laid between the extended outrigger 23 and the ground to reduce the ground pressure of the outrigger 23. In this case, for example, the base plate 81 held by the base plate holder 24 can be taken out and laid at the ground contact position of the outrigger 23, and then the outrigger 23 can be extended to lay the base plate 81 between the outrigger 23 and the ground.

[0018] The base plate holder 24 is located at the front end of the traveling body 2. In other words, in the first direction, the base plate holder 24 is provided at the end of the traveling body 2 opposite to one end.

[0019] The traveling body 2 supports the rotating body 3 so that it can rotate horizontally. The rotating body 3 is rotated about the rotation center X by a hydraulic actuator provided in the rotating body 3.

[0020] The slewing body 3 has a boom 31. The boom 31 is an example of work equipment. The boom 31 is supported at the rear end of the slewing body 3. The boom 31 extends forward from the rear end of the slewing body 3.

[0021] The boom 31 can rotate along the slewing body 3 in the slewing direction A by means of a hydraulic actuator (see arrow A in Figure 1). The boom 31 can extend and retract along the extension direction B by means of a hydraulic actuator (see arrow B in Figure 1). The boom 31 can luff and deflate along the luffing direction C by means of a hydraulic actuator (see arrow C in Figure 1).

[0022] A wire rope 32 is stretched across the boom 31. A hook 33 is attached to the end of the wire rope 32. The slewing body 3 is equipped with a winch 34 for winding in and unwinding the wire rope 32. The winch 34 is an example of work equipment.

[0023] The slewing body 3 is equipped with a cabin 35 on the side of the boom 31. As shown in Figure 2, the cabin 35 is equipped with a slewing lever 51, an extension lever 52, a luffing lever 53, and a winding lever 54, among other things.

[0024] As shown in Figure 1, the traveling body 2 of the crane 1 is equipped with a drive unit mounting section 25 to which an electric drive unit 7 is detachably attached. The electric drive unit 7 is equipped with a hydraulic pump P that supplies hydraulic fluid to a plurality of hydraulic actuators provided by the crane 1 (see Figure 3). The electric drive unit 7 is connected to the traveling body 2 by hydraulic piping 8. The electric drive unit 7 is a device that drives the hydraulic pump P with an electric motor 71 and supplies hydraulic fluid to drive the hydraulic actuators of work equipment such as the boom 31, winch 34, and outriggers 23.

[0025] The electric drive unit 7 is configured separately from the crane 1. The electric drive unit 7 can be connected to the traveling body 2 when it is mounted, for example, on the drive unit mounting section 25. The drive unit mounting section 25 is located at the rear end of the traveling body 2. In other words, the drive unit mounting section 25 is provided at one end of the traveling body 2 in the first direction.

[0026] In this embodiment, the drive unit mounting section 25 is fixedly attached to the traveling body 2. That is, the drive unit mounting section 25 is always attached to the traveling body 2, regardless of whether the crane 1 is in travel mode or working mode. However, the drive unit mounting section 25 can also be detachably attached to the traveling body 2. In this case, the drive unit mounting section 25 can be removed from the traveling body 2 when the crane 1 is in travel mode, and the drive unit mounting section 25 can be attached to the traveling body 2 when the crane 1 is in working mode.

[0027] Crane 1 is equipped with an engine and a hydraulic pump driven by the engine. The multiple hydraulic actuators equipped with crane 1 can also be driven by the supply of hydraulic fluid from the hydraulic pump driven by the engine.

[0028] A weight 82 can be attached to the base plate holder 24 of the traveling body 2. When the crane 1 is in working mode and the base plate 81 is laid between the outrigger 23 and the ground, the base plate holder 24 does not hold the base plate 81, so it is possible to attach the weight 82. In other words, the base plate holder 24 is configured to allow the attachment of the weight 82 when it is not holding the base plate 81. The weight 82 is a counterweight member that offsets the weight of the electric drive unit 7 attached to the drive unit mounting unit 25. The base plate holder 24 also serves as a weight mounting unit to which the weight 82 is detachably attached. The base plate holder 24 is positioned so that the base plate 81 and weight 82 attached to the base plate holder 24 do not interfere with the slewing motion of the slewing body 3 and the boom 31.

[0029] [Control System] Crane 1 is equipped with a control system 4.

[0030] As shown in Figures 1 to 3, the control system 4 mainly comprises a controller 40, various levers 51 to 54, a hydraulic valve group 6, a display 55, a mode selector switch 56, and various detection sensors 91 to 98. The hydraulic valve group 6 includes various valves 61 to 64.

[0031] Controller 40 is an example of a control unit. Controller 40 has an information storage unit 41. The information storage unit 41 stores various programs required for controlling the crane 1. The information storage unit 41 can also store various types of data.

[0032] The controller 40 has an information processing unit 42. The information processing unit 42 converts operation signals (electrical signals) indicating the amount of operation of various levers 51 to 54 into control signals (electrical signals) for various valves 61 to 64 and transmits them.

[0033] The various valves 61 to 64 are connected to the hydraulic pump P of the electric drive unit 7 by hydraulic piping 8. The various valves 61 to 64 are valves for switching the supply and stopping of hydraulic fluid from the hydraulic pump P to the hydraulic actuator.

[0034] The controller 40 transmits information regarding the amount of operation of the various levers 51 to 54 to the various valves 61 to 64 of the hydraulic valve group 6, thereby enabling the rotation of the slewing body 3, the extension and luffing of the boom 31, and the winding and unwinding of the winch 34.

[0035] More specifically, the slewing body 3 supporting the boom 31 is rotatable along the slewing direction A by a hydraulic actuator (see arrow A in Figure 1). In this embodiment, the slewing motor 36 is a hydraulic actuator for slewing the slewing body 3 (see Figure 3). The slewing motor 36 is connected to a slewing valve 61. The slewing motor 36 is driven as appropriate by the slewing valve 61. The slewing valve 61 is, for example, a directional control valve. The slewing valve 61 operates based on instructions from the controller 40. The slewing angle of the slewing body 3 is detected by a slewing angle detection sensor 91.

[0036] The boom 31 is extendable and retractable along the extension direction B by a hydraulic actuator (see arrow B in Figure 1). In this embodiment, the extension cylinder 37 is the extension hydraulic actuator for extending and retracting the boom 31 (see Figure 3). The extension cylinder 37 is connected to the extension valve 62. The extension cylinder 37 is driven as appropriate by the extension valve 62. The extension valve 62 is, for example, a directional control valve. The extension valve 62 operates based on instructions from the controller 40. The extension length of the boom 31 is detected by the boom length detection sensor 92.

[0037] The boom 31 is capable of being raised and lowered along the luffing direction C by a hydraulic actuator (see arrow C in Figure 1). In this embodiment, the luffing cylinder 38 is a luffing hydraulic actuator for raising and lowering the boom 31 (see Figure 3). The luffing cylinder 38 is connected to a luffing valve 63. The luffing cylinder 38 is driven as appropriate by the luffing valve 63. The luffing valve 63 is, for example, a directional control valve. The luffing valve 63 operates based on instructions from the controller 40. The luffing angle of the boom 31 is detected by a boom angle detection sensor 93.

[0038] The hook 33 attached to the end of the wire rope 32 can be raised and lowered by a hydraulic actuator. In this embodiment, the winding motor 39 is a hydraulic actuator for raising and lowering the hook 33 (see Figure 3). The winding motor 39 is connected to a winding valve 64. The winding motor 39 is driven as appropriate by the winding valve 64. The winding valve 64 is, for example, a directional control valve. The winding valve 64 operates based on instructions from the controller 40.

[0039] The luffing cylinder pressure detection sensor 94 detects the pressure applied to the luffing cylinder 38. The lever operation detection sensor 95 detects the operating status of the various levers 51 to 54. The outrigger extension width detection sensor 96 detects the extension width of the outrigger 23.

[0040] The drive unit detection sensor 97 is a sensor for detecting the electric drive unit 7 mounted on the drive unit mounting section 25 of the traveling body 2. The drive unit detection sensor 97 is an example of a first sensor. The drive unit detection sensor 97 turns on, for example, when the electric drive unit 7 is mounted on the drive unit mounting section 25, and detects the electric drive unit 7. The drive unit detection sensor 97 turns off, for example, when the electric drive unit 7 is not mounted on the drive unit mounting section 25, and does not detect the electric drive unit 7.

[0041] The drive device detection sensor 97 can be configured to detect the electric drive device 7 mounted on the drive device mounting portion 25 by, for example, detecting that the electric drive device 7 is connected to the traveling body 2. Further, the drive device detection sensor 97 can be constituted by a contact-type sensor that detects the electric drive device 7 by contacting the electric drive device 7 mounted on the drive device mounting portion 25. Further, the drive device detection sensor 97 may be a non-contact optical sensor that optically detects the electric drive device 7 mounted on the drive device mounting portion 25. Furthermore, the drive device detection sensor 97 may be a weight sensor that detects the weight of the electric drive device 7 mounted on the drive device mounting portion 25.

[0042] The weight detection sensor 98 is a sensor for detecting the weight 82 mounted on the floor plate holding portion 24 of the traveling body 2. The weight detection sensor 98 is an example of the second sensor. The weight detection sensor 98 is turned on, for example, when the weight 82 is mounted on the floor plate holding portion 24, and detects the weight 82. Further, the weight detection sensor 98 is turned off, for example, when the weight 82 is not mounted on the floor plate holding portion 24, and does not detect the weight 82.

[0043] The weight detection sensor 98 can be constituted by a contact-type sensor that detects the weight 82 by contacting the weight 82 mounted on the floor plate holding portion 24. Further, the weight detection sensor 98 may be a non-contact optical sensor that optically detects the weight 82 mounted on the floor plate holding portion 24. Furthermore, the weight detection sensor 98 may be a weight sensor that detects the weight of the weight 82 mounted on the floor plate holding portion 24.

[0044] The mode changeover switch 56 is a switch for switching between the work mode and the traveling mode. The work mode is a mode in which work is performed by work devices such as the outriggers 23, the winch 34, and the boom 31. The traveling mode is a mode in which the traveling body 2 travels. The mode changeover switch 56 is provided, for example, inside the cab 35 and is connected to the controller 40.

[0045] By switching the mode selection switch 56 to the work mode, it becomes possible to perform work using work equipment such as the outriggers 23, winch 34, and boom 31. Also, by switching the mode selection switch 56 to the travel mode, it becomes possible to perform travel by the traveling body 2.

[0046] The display 55 projects various images. The display 55 is attached to the front side of the driver's seat inside the cab 35 (see FIG. 2). The operator can view the display 55 while operating the various levers 51 to 54. The display 55 is connected to the controller 40. The controller 40 can provide various information to the operator through the display 55.

[0047] The display 55 can be configured by, for example, a multi-function display (Multi Function Display) having a touch panel. The multi-function display can display and input various information and perform various operations.

[0048] The control system 4 includes an overload prevention device 45. The overload prevention device 45 suppresses the work moment applied to the crane 1 from becoming excessive. The overload prevention device 45 is a safety device that prevents the crane 1 from tipping over or being damaged due to an overload exceeding the rated load.

[0049] The work state of the crane 1 registered by the operator and the detection information detected by the various detection sensors 91 to 98 are input to the overload prevention device 45. The detection information includes the swing angle of the boom 31, the telescopic length of the boom 31, the elevation angle of the boom 31, the pressure applied to the elevation cylinder 38, the operation states of the various levers 51 to 54, the outreach width of the outriggers 23, and the mounting states of the electric drive device 7 and the weight 82.

[0050] The overload prevention device 45 calculates the working moment and the rated moment based on the input data, and obtains the moment load ratio by dividing the working moment by the rated moment. The obtained moment load ratio is input from the overload prevention device 45 to the controller 40. The obtained moment load ratio may also be displayed on the display 55.

[0051] The controller 40 performs overload control based on the moment load ratio input from the overload prevention device 45. As part of the overload control, for example, if the input moment load ratio exceeds 100%, the controller 40 stops the movement of the crane 1 toward the dangerous side and issues an alarm. The alarm includes displaying an error code on the display 55, sounding a buzzer, and illuminating an indicator light. Note that if the moment load ratio exceeds 100%, the movement of the crane 1 toward the dangerous side is stopped, but movement toward the safe side is permitted.

[0052] Furthermore, the controller 40 can perform overload control, for example, by issuing an alarm to draw attention when the moment load ratio is 90% or more but less than 100%, and by indicating that it is safe when the moment load ratio is less than 90%.

[0053] [Electric Drive System] As shown in Figure 3, the electric drive system 7 comprises a hydraulic pump P, an electric motor 71, and an inverter 72. The hydraulic pump P is a pump that supplies hydraulic fluid to a plurality of hydraulic actuators provided by the crane 1. The hydraulic pump P is connected to the hydraulic valve group 6 by hydraulic piping 8. The electric motor 71 drives the hydraulic pump P. The inverter 72 is connected to the controller 40 and controls the drive of the electric motor 71.

[0054] [Procedure for transitioning from travel mode to work mode] When crane 1 moves to a work site and performs work using work equipment, it transitions from travel mode to work mode by the following procedure. After crane 1 transitions to work mode and attaches the weight 82 and electric drive unit 7 to the travel body 2, it begins work.

[0055] First, in travel mode, the crane 1 moves to the work site S by traveling on the traveling body 2. When the crane 1 is traveling toward the work site S, the base plate 81 is held in the base plate holding part 24 of the traveling body 2, and the electric drive unit 7 is not attached to the drive unit mounting part 25 of the traveling body 2. If the drive unit mounting part 25 is provided to be detachable from the traveling body 2, the crane 1 can be configured to travel toward the work site S with the drive unit mounting part 25 removed from the traveling body 2.

[0056] When crane 1 arrives at the work site S, the operator operates the mode selector switch 56 to switch crane 1 from travel mode to work mode.

[0057] As shown in Figure 4, after switching the crane 1 to work mode, the operator drives the boom 31 and winch 34, etc., to lift the base plate 81 held by the base plate holder 24 and set it in the ground position when the outriggers 23 are extended.

[0058] The lifting and installation of the base plate 81 is performed with the front wheels 21 and rear wheels 22 in contact with the ground. Furthermore, until the electric drive unit 7 is connected to the crane 1, the hydraulic actuators for driving the work equipment are driven by the engine's power.

[0059] As shown in Figure 5, after the operator sets up the base plate 81, the outriggers 23 extend from the vehicle 2, and with the base plate 81 laid between the outriggers 23 and the ground, the outriggers 23 are grounded. In the crane 1 shown in Figure 5, the outriggers 23 are grounded via the base plate 81. As shown in Figure 6, the electric drive unit 7 and weights 82 to be attached to the vehicle 2 are pre-positioned around the crane 1 at the work site S. If the drive unit mounting section 25 is to be detachably attached to the vehicle 2, the drive unit mounting section 25 can be configured to be attached to the vehicle 2 after the crane 1 is switched to work mode.

[0060] As shown in Figure 7, after the outriggers 23 have been grounded, the operator drives the boom 31 and winch 34 to lift the weight 82 and attach it to the base plate holder 24. Furthermore, as shown in Figure 8, the operator drives the boom 31 and winch 34 to lift the electric drive unit 7 and attach it to the drive unit mounting unit 25. As shown in Figure 9, in the crane 1, by having both the weight 82 and the electric drive unit 7 attached to the traveling body 2, the weight balance of the traveling body 2 can be properly adjusted.

[0061] In crane 1, a weight 82 for offsetting the weight of the electric drive unit 7 is configured to be attached to the base plate holder 24 in working mode. This allows the weight attachment part for attaching the weight 82 to be used in conjunction with the base plate holder 24, making effective use of space in the traveling body 2.

[0062] After the operator attaches the electric drive unit 7 to the drive unit mounting section 25, the operator connects the hydraulic pump P of the electric drive unit 7 to the hydraulic valve group 6 of the crane 1, and connects the inverter 72 of the electric drive unit 7 to the controller 40 of the crane 1.

[0063] By connecting the electric drive unit 7 to the crane 1, it becomes possible to drive the hydraulic actuators of the work equipment with the driving force from the electric drive unit 7. After connecting the electric drive unit 7 to the crane 1, the operator starts work such as transporting the load W using the boom 31 and winch 34.

[0064] When the crane 1 has finished its work, the operator removes the electric drive unit 7 and the weight 82 from the vehicle 2, then retracts the outriggers 23, lifts the base plate 81, and places it on the base plate holder 24. By configuring the system so that the base plate 81 is placed on the base plate holder 24 where the weight 82 was attached at the end of the work, it is possible to prevent the weight 82 from remaining attached to the base plate holder 24.

[0065] [Restrictions on the operation of work equipment due to the mounting state of the electric drive unit and weights] When the electric drive unit 7 is mounted on the drive unit mounting section 25 located at the rear end (one end in the first direction) of the traveling body 2, the electric drive unit 7 is heavy, so if left as is, the weight balance of the traveling body 2 will be disrupted and it will shift to the rear.

[0066] Therefore, in the crane 1, when the electric drive unit 7 is attached to the drive unit mounting section 25, a weight 82 is attached to the base plate holding section 24 located at the front end (the other end in the first direction) of the traveling body 2 to balance the weight of the traveling body 2.

[0067] Thus, when performing work by driving the work equipment with the driving force from the electric drive unit 7, the work is performed with the electric drive unit 7 and the weight 82 attached to the traveling body 2.

[0068] However, even when the electric drive unit 7 and weight 82 are attached to the traveling body 2, it is still possible to perform work and travel using the driving force from the engine. In this case, for example, the crane 1 is provided with a changeover switch to enable and disable the drive by the electric drive unit 7. When the attachment of the electric drive unit 7 and weight 82 to the traveling body 2 is detected by the drive unit detection sensor 97 and the weight detection sensor 98, the drive by the electric drive unit 7 can be enabled using the changeover switch, thereby enabling work using the driving force from the electric drive unit 7. Also, when the drive by the electric drive unit 7 is not enabled by the changeover switch, the crane 1 can be driven by the engine.

[0069] Furthermore, if the electric drive unit 7 and weight 82 are not attached to the traveling body 2, the crane 1 can perform work by driving the work equipment with the driving force from the engine.

[0070] On the other hand, if the crane 1 is in a state where the electric drive unit 7 is attached to the traveling body 2 but the weight 82 is not attached, the weight balance of the traveling body 2 will be disrupted, so it is preferable to restrict the operation of the work equipment. Similarly, if the traveling body 2 is in a state where the weight 82 is attached but the electric drive unit 7 is not attached, it is also preferable to restrict the operation of the work equipment. In other words, if the traveling body 2 is in a state where only one of the electric drive unit 7 or the weight 82 is attached, it is preferable to restrict the operation of the work equipment.

[0071] For example, if the electric drive unit 7 is attached to the traveling body 2 and the weight 82 is not attached, the weight balance of the traveling body 2 will be shifted to the rear. Therefore, it is preferable to limit the rearward rotation radius of the boom 31 and the weight of the suspended load when rotating the boom 31 to the rear to lift the load, in order to prevent the load on the crane 1 from becoming excessive.

[0072] Therefore, in the working mode, the crane 1 is configured such that if only one of the electric drive unit 7 or the weight 82 is detected by the drive unit detection sensor 97 and the weight detection sensor 98, the controller 40 notifies the operator of the crane 1 of operation restriction information indicating that the operation of the work equipment is restricted. The operation restriction information includes information that the weight balance of the traveling body 2 is not appropriate, and information that the operation of the work equipment is restricted. Notifying operation restriction information is an example of safety control.

[0073] For example, the controller 40 can be configured to broadcast messages such as, "The weight balance of the mobile body 2 is not proper. If the weight balance is not improved, the operation of the work equipment will be restricted," or "Because the weight balance of the mobile body 2 is not proper, the slewing radius of the boom 31 and the maximum weight of the suspended load will be restricted," from a notification means such as a speaker on the crane 1.

[0074] Furthermore, in the working mode, the crane 1 is configured to restrict the operation of the work equipment by the controller 40 when only one of the electric drive unit 7 or the weight 82 is detected by the drive unit detection sensor 97 and the weight detection sensor 98. Restricting the operation of the work equipment is an example of safety control.

[0075] In this case, the controller 40 can limit the operation of the work equipment, for example, by restricting the slewing radius of the boom 31 and the maximum weight of the suspended load, so that the load on the crane 1 is smaller than when both the electric drive unit 7 and the weight 82 are attached to the traveling body 2. The magnitude of the restricted slewing radius of the boom 31 and the maximum weight of the suspended load can be calculated, for example, by the overload prevention device 45.

[0076] In this way, by restricting the operation of the work equipment, even if the weight balance of the traveling body 2 is uneven, it is possible to suppress the working moment applied to the crane 1 from becoming excessive, maintain the moment load ratio of the crane 1 at less than 100%, and suppress the instability of the crane 1's posture.

[0077] Furthermore, the controller 40 can notify the operator of the crane 1 of the operation restriction information when restricting the operation of the work equipment, or before restricting the operation of the work equipment. In this way, by notifying the operator of the crane 1 of the operation restriction information prior to restricting the operation of the work equipment, the operator can operate the work equipment properly.

[0078] Furthermore, the limitations on the operation of the work equipment when either the electric drive unit 7 or the weight 82 is attached to the traveling body 2 can also be applied when the crane 1 is driven by the power from the engine.

[0079] Here, as shown in Figure 10, in crane 1, the straight line L1 connecting the ground contact point GP1 of the left front outrigger 23a and the ground contact point GP2 of the right front outrigger 23a becomes the axis of tilting forward. The straight line L2 connecting the ground contact point GP3 ​​of the left rear outrigger 23b and the ground contact point GP4 of the right rear outrigger 23b becomes the axis of tilting backward. Also, the straight line L3 connecting the ground contact point GP1 of the left front outrigger 23a and the ground contact point GP3 ​​of the left rear outrigger 23b becomes the axis of tilting to the left. The straight line L4 connecting the ground contact point GP2 of the right front outrigger 23a and the ground contact point GP4 of the right rear outrigger 23b becomes the axis of tilting to the right.

[0080] Therefore, even if the weight 82 is attached to the traveling body 2 and the electric drive unit 7 is not attached, if the center of gravity G of the weight 82 is behind the straight line L1, that is, within the area enclosed by straight lines L1, L2, L3, and L4 (the so-called support range), the impact on the stability of the crane 1 is small. In such cases, there is no need to notify operation restriction information or restrict the operation of the work equipment.

[0081] Therefore, the system can be configured to notify operation restriction information and restrict the operation of work equipment only when the center of gravity G of the weight 82 is in front of the straight line L1, that is, outside the area enclosed by the straight lines L1, L2, L3, and L4, and the stability of the crane 1 relative to the front decreases, affecting the lifting performance.

[0082] Thus, in the crane 1, when the weight 82 is attached to the traveling body 2 and the electric drive device 7 is not attached, the notification of operation restriction information and the restriction of the operation of the work equipment can be performed when the center of gravity G of the weight 82 is in front of the straight line L1 which is the axis of tipping, but not when the center of gravity G of the weight 82 is behind the straight line L1.

[0083] This allows for notification of operational restriction information and restriction of the operation of work equipment to be performed more when necessary, thereby reducing the impact of notification of operational restriction information or restriction of the operation of work equipment.

[0084] [Restrictions on driving conditions due to the mounting of the electric drive unit and weights] When the electric drive unit 7 is mounted on the drive unit mounting section 25 of the traveling body 2, and the weight 82 is mounted on the base plate holding section 24, the weight of the crane 1 increases because the electric drive unit 7 and the weight 82 are heavy objects. Therefore, it is not desirable for the crane 1 with the electric drive unit 7 and weight 82 mounted to travel at high speeds, such as when traveling on a public road.

[0085] Furthermore, if either the electric drive unit 7 or the weight 82 is attached to the traveling body 2, the weight balance of the traveling body 2 will be disrupted, causing the posture of the traveling body 2 to become unstable. As a result, it may become undesirable to operate the crane 1 even at low speeds. In other words, if at least one of the electric drive unit 7 or the weight 82 is attached to the traveling body 2, there is a risk that the traveling performance will deteriorate.

[0086] (Notification of information prompting the imposition of restrictions on travel conditions) Therefore, in travel mode, when the crane 1 detects at least one of the electric drive unit 7 and the weight 82 using the drive unit detection sensor 97 and the weight detection sensor 98, the controller 40 is configured to notify the operator of the crane 1 of travel restriction information prompting them to imposition restrictions on the travel conditions of the travel body 2. Notification of travel restriction information is an example of safety control.

[0087] In other words, the controller 40 notifies travel restriction information when the crane 1, which has been switched to travel mode, detects the electric drive unit 7 with the drive unit detection sensor 97 and does not detect the weight 82 with the weight detection sensor 98; detects the weight 82 with the weight detection sensor 98 and does not detect the electric drive unit 7 with the drive unit detection sensor 97; and detects the electric drive unit 7 with the weight detection sensor 98 and detects the weight 82 with the drive unit detection sensor 97.

[0088] In this case, the controller 40 can provide information such as travel restriction information, for example, "Please travel at a speed of XX km / h or less," which encourages the crane 1 to travel at a predetermined speed or less, or "Please do not travel," which encourages the crane 1 to refrain from traveling.

[0089] In this way, when the crane 1 is in travel mode, the controller 40 can notify the operator of the crane 1 of travel restriction information, thereby preventing the crane 1 from traveling at high speeds.

[0090] Furthermore, when the controller 40 notifies driving restriction information, it can make the content of the information notified when both the electric drive unit 7 and the weight 82 are detected different from the content of the information notified when either the electric drive unit 7 or the weight 82 is detected.

[0091] For example, when both the electric drive unit 7 and the weight 82 are attached to the traveling body 2, the weight of the crane 1 increases, making it undesirable for the crane 1 to travel at high speeds. However, it is possible to travel at low speeds in a stable posture. On the other hand, when one of the electric drive unit 7 and the weight 82 is attached to the traveling body 2 and the other is not, the weight balance of the crane 1 is disrupted and shifted, which may make it undesirable to travel the crane 1 even at low speeds.

[0092] Therefore, by varying the content of the information to be notified depending on the mounting status of the electric drive unit 7 and the weight 82, it becomes possible to notify appropriate information according to the mounting status of the electric drive unit 7 and the weight 82. For example, when both the electric drive unit 7 and the weight 82 are mounted on the traveling body 2, the travel restriction information notified is to encourage the crane 1 to travel at a predetermined speed or less. When either the electric drive unit 7 or the weight 82 is mounted on the traveling body 2, the travel restriction information notified is to encourage the crane 1 to refrain from traveling.

[0093] Furthermore, when the drive device detection sensor 97 detects only the electric drive device 7, and the boom 31 is in a position where it can offset the weight of the electric drive device 7, the controller 40 can broadcast information with the same content as the information broadcast when both the electric drive device 7 and the weight 82 are detected.

[0094] In the crane 1, the boom 31 is supported by the slewing body 3, and the slewing body 3 is supported by the traveling body 2. Therefore, by raising the boom 31 to a predetermined elevation angle and extending it forward to a predetermined extension length, the weight of the boom 31 can be placed on the front end of the traveling body 2. Since the electric drive unit 7 is mounted on the rear end of the traveling body 2, the weight of the electric drive unit 7 can be offset in the weight balance of the traveling body 2 in the front-rear direction by placing the weight of the boom 31 on the front end opposite to the rear end of the traveling body 2.

[0095] This makes it possible to achieve an appropriate weight balance for the vehicle body 2 when the electric drive unit 7 is attached but the weight 82 is not attached, similar to the weight balance when both the electric drive unit 7 and the weight 82 are attached to the vehicle body 2.

[0096] Thus, when the boom 31 is in a position that can offset the weight of the electric drive unit 7, it is possible to achieve a proper weight balance of the traveling body 2, and the crane 1 can be driven in the same way as when both the electric drive unit 7 and the weight 82 are attached to the traveling body 2.

[0097] Furthermore, when the boom 31 is in a position that can offset the weight of the electric drive unit 7, information encouraging the crane 1 to travel at a predetermined speed or less can be provided as travel restriction information, similar to when both the electric drive unit 7 and the weight 82 are attached to the traveling body 2.

[0098] When providing information to encourage the crane 1 to travel at a predetermined speed or below, the same information as when both the electric drive unit 7 and the weight 82 are attached to the traveling body 2 can be provided, for example, "Please travel at a speed of XX km / h or less."

[0099] By providing information similar to that provided when both the electric drive unit 7 and the weight 82 are mounted on the traveling body 2, it becomes possible to provide appropriate information according to the mounting status of the electric drive unit 7 and the weight 82, as well as the posture of the boom 31.

[0100] (Restriction of travel speed) In addition, when the crane 1 is in travel mode, the controller 40 may be configured to restrict the travel speed of the crane 1 when the drive device detection sensor 97 and the weight detection sensor 98 detect at least one of the electric drive device 7 and the weight 82. Restricting the travel speed is an example of safety control.

[0101] In other words, the controller 40 limits the travel speed of the crane 1 when the crane 1 is switched to travel mode, when the drive device detection sensor 97 detects the electric drive device 7 and the weight detection sensor 98 does not detect the weight 82; when the weight detection sensor 98 detects the weight 82 and the drive device detection sensor 97 does not detect the electric drive device 7; and when the drive device detection sensor 97 detects the electric drive device 7 and the weight detection sensor 98 detects the weight 82.

[0102] As a limit on the travel speed of the crane 1 by the controller 40, for example, in travel mode, when at least one of the electric drive unit 7 and the weight 82 is detected by the drive unit detection sensor 97 and the weight detection sensor 98, the travel speed of the traveling body 2 can be limited to a smaller speed than when neither the electric drive unit 7 nor the weight 82 is detected.

[0103] In this case, the travel speed of the crane 1 can be limited, for example, by limiting the maximum rotational speed of the crane 1's engine that drives the front wheels 21 and rear wheels 22 of the traveling body 2 to a predetermined rotational speed or less.

[0104] In this way, by limiting the travel speed of crane 1, it is possible to prevent crane 1 from traveling at high speeds if the weight balance of the traveling body 2 is disrupted and shifts to one side, or if the weight of crane 1 increases.

[0105] Furthermore, the controller 40 can also control the crane 1 to not move when it is undesirable to move it, even at low speeds, if only one of the electric drive unit 7 or the weight 82 is attached to the traveling body 2. This makes it possible to prevent the crane 1 from moving unexpectedly when it is undesirable to move it.

[0106] Furthermore, the restrictions on the travel conditions of the crane 1 when at least one of the electric drive unit 7 and the weight 82 is attached to the traveling body 2 can also be applied when the crane 1 is driven by the power from the engine.

[0107] As described above, the crane 1 according to this embodiment is equipped with the following features individually or in appropriate combinations.

[0108] In other words, the crane 1 (work vehicle) comprises a traveling body 2, a slewing body 3 rotatably supported on the traveling body 2, work equipment provided on the traveling body 2 and the slewing body 3, a drive device mounting section 25 provided at the rear end (one end) in the front-rear direction (first direction) of the traveling body 2, to which an electric drive device 7 for driving the work equipment is detachably mounted, a base plate holding section 24 (weight mounting section) provided at the other end in the front-rear direction of the traveling body 2, to which a weight 82 for offsetting the weight of the electric drive device 7 is detachably mounted, a drive device detection sensor 97 (first sensor) for detecting the electric drive device 7 mounted on the drive device mounting section 25, a weight detection sensor 98 (second sensor) for detecting the weight 82 mounted on the base plate holding section 24, and a controller 40 (control unit) that performs safety control based on the detection results of the drive device detection sensor 97 and the weight detection sensor 98.

[0109] According to crane 1, safety control is performed according to the mounting status of the electric drive unit 7 and the weight 82 to the traveling body 2, so safety in both the working mode and the traveling mode is significantly improved.

[0110] In the crane 1 (work vehicle), the controller 40 (control unit) performs safety control when, in the work mode in which work is performed using the work equipment, the drive unit detection sensor 97 (first sensor) and the weight detection sensor 98 (second sensor) detect only one of the electric drive unit 7 or the weight 82. Since safety control is reliably performed when the working posture of the crane 1 becomes unstable, safety is further improved.

[0111] In crane 1 (work vehicle), the controller 40 (control unit) provides information as a safety control measure indicating that the operation of the work equipment will be restricted. This allows the operator of crane 1 to recognize that the operation of the work equipment will be restricted and to operate the work equipment appropriately.

[0112] In the crane 1 (work vehicle), the controller 40 (control unit) restricts the operation of the work equipment as a safety control. By restricting the operation of the crane 1, it is possible to prevent the crane 1's posture from becoming even more unstable.

[0113] The crane 1 (working vehicle) further includes a pair of front outriggers (first outriggers) 23a that extend outwards and make contact with the ground on both sides in the width direction perpendicular to the front-rear direction (first direction) at the other end, and a pair of rear outriggers 23b (second outriggers) that extend outwards and make contact with the ground on both sides in the width direction at one end. The controller 40 (control unit) performs safety control when only the weight 82 is detected by the weight detection sensor 98 (second sensor), and the center of gravity of the weight 82 is on the other end side in the first direction, which is further than the straight line L1 connecting the contact points of the two front outriggers 23a. This suppresses unnecessary safety control and reduces the impact of safety control on the operator.

[0114] In the crane 1 (work vehicle), the controller 40 (control unit) performs safety control when, in the travel mode in which the crane 2 travels, the drive unit detection sensor 97 (first sensor) and the weight detection sensor 98 (second sensor) detect at least one of the electric drive unit 7 and the weight 82. Since safety control is reliably performed when the travel posture of the crane 1 becomes unstable or when the weight of the crane 1 is heavy, safety is further improved.

[0115] In the crane 1 (work vehicle), the controller 40 (control unit) provides travel restriction information as a safety control measure, prompting the operator to impose restrictions on the travel conditions of the vehicle. This allows the operator of the crane 1 to realize that the crane 1 should be driven at a low speed, enabling the vehicle 2 to be driven safely.

[0116] In crane 1 (work vehicle), the information notified when both the electric drive unit 7 and the weight 82 are detected differs from the information notified when either the electric drive unit 7 or the weight 82 is detected. This allows the content of the travel restriction information to differ depending on whether the weight of crane 1 is large or the travel posture of crane 1 is unstable, enabling appropriate travel support to the operator.

[0117] In the crane 1 (work vehicle), the slewing body 3 is configured to be extendable and retractable and includes a boom 31 that is supported on the slewing body 3 so as to be able to be raised and lowered. The controller 40 (control unit) notifies the operator of the same information as when both the electric drive unit 7 and the weight 82 are detected, when only the electric drive unit 7 is detected by the drive unit detection sensor 97 (first sensor) and the boom 31 is in a position that can offset the weight of the electric drive unit 7. When the weight balance is stable by taking the weight of the boom 31 into account, the driving conditions are not severely restricted, and more appropriate driving support can be provided to the operator.

[0118] In the crane 1 (work vehicle), the controller 40 (control unit) limits the travel speed of the mobile body 2 as a safety control. Specifically, the controller 40 (control unit) limits the travel speed of the mobile body 2 to a lower speed than when both the electric drive unit 7 and the weight 82 are not detected. This makes it possible to operate the mobile body 2 more safely.

[0119] In the crane 1 (work vehicle), the weight mounting section to which the weight 82 is attached is a base plate holding section 24 capable of holding a base plate 81 laid between the outrigger 23 of the crane 1 (work vehicle) and the ground. This allows the weight mounting section for attaching the weight 82 to also function as the base plate holding section 24, making effective use of space in the vehicle 2.

[0120] The present inventors have described the invention in detail based on embodiments above, but this disclosure is not limited to the above embodiments and can be modified without departing from the spirit of the invention.

[0121] In other words, the work vehicle comprises a traveling body, a rotating body supported by the traveling body so as to be rotatable, work equipment provided on the traveling body and the rotating body, a drive unit mounting section provided at one end of the traveling body to which an electric drive unit for driving the work equipment is detachably mounted, a weight mounting section provided at the other end of the traveling body opposite to the one end to which a weight for offsetting the weight of the electric drive unit mounted at the drive unit mounting section is detachably mounted, a first sensor for detecting the electric drive unit mounted at the drive unit mounting section, and a second sensor for detecting the weight mounted at the weight mounting section. The system comprises a sensor and a control unit that receives the detection results of the first sensor and the second sensor, wherein the control unit notifies information that the operation of the work equipment is restricted when, in a work mode in which work is performed by the work equipment, the first sensor detects the electric drive unit attached to the drive unit mounting part and the second sensor does not detect the weight attached to the weight mounting part, and when the second sensor detects the weight attached to the weight mounting part and the first sensor does not detect the electric drive unit attached to the drive unit mounting part.

[0122] When one of the electric drive unit and the weight is attached to the vehicle body while the other is not, the weight balance of the work vehicle becomes uneven, making it preferable to restrict the operation of the work equipment. In such cases, informing the operator of the work vehicle that the operation of the work equipment is restricted makes it possible to operate the work equipment properly.

[0123] Furthermore, the vehicle is provided with a pair of first outriggers extending outwards and making contact with the ground on both sides in the width direction perpendicular to the first direction at the other end of the vehicle in the first direction, and a pair of second outriggers extending outwards and making contact with the ground on both sides in the width direction at one end of the vehicle in the first direction. When the second sensor detects the weight and the first sensor does not detect the electric drive device, the notification of information that the operation of the work equipment is restricted is made when the center of gravity of the weight attached to the weight mounting part is on the other end side in the first direction, rather than on the straight line connecting the ground contact point of one of the first outriggers and the ground contact point of the other first outrigger.

[0124] This allows for notification of restrictions on the operation of work equipment to be given more frequently, and reduces the impact of such notifications.

[0125] Furthermore, in the work mode in which work is performed using the work equipment, the control unit restricts the operation of the work equipment when the first sensor detects the electric drive unit mounted on the drive unit mounting section and the second sensor does not detect the weight mounted on the weight mounting section, and when the second sensor detects the weight mounted on the weight mounting section and the first sensor does not detect the electric drive unit mounted on the drive unit mounting section.

[0126] When the weight balance of a work vehicle is uneven, restricting the vehicle's movement can prevent the vehicle from becoming unstable.

[0127] The vehicle is provided with a pair of first outriggers that extend outwards and make contact with the ground on both sides in the width direction perpendicular to the first direction at the other end of the vehicle in the first direction, and a pair of second outriggers that extend outwards and make contact with the ground on both sides in the width direction at one end of the vehicle in the first direction. When the second sensor detects the weight and the first sensor does not detect the electric drive device, the notification of information that the operation of the work equipment is restricted, and the restriction of the operation of the work equipment, are performed when the center of gravity of the weight attached to the weight mounting part is on the other end side in the first direction, rather than on the straight line connecting the ground contact point of one of the first outriggers and the ground contact point of the other first outrigger.

[0128] This allows for notification of restrictions on the operation of work equipment, and for restrictions on the operation of work equipment to be implemented more frequently, thereby reducing the impact of notification of restrictions on the operation of work equipment and the impact of restrictions on the operation of work equipment.

[0129] Furthermore, the work vehicle comprises a traveling body, a rotating body rotatably supported on the traveling body, work equipment provided on the traveling body and the rotating body, a drive unit mounting section provided at one end of the traveling body and to which an electric drive unit for driving the work equipment is detachably mounted, a weight mounting section provided at the other end of the traveling body opposite to the one end and to which a weight for offsetting the weight of the electric drive unit mounted on the drive unit mounting section is detachably mounted, a first sensor for detecting the electric drive unit mounted on the drive unit mounting section, a second sensor for detecting the weight mounted on the weight mounting section, and a control unit to which the detection results of the first and second sensors are input. The control unit provides information prompting the restriction of the traveling conditions of the traveling body when, in a traveling mode in which the traveling body is traveling, at least the first sensor detects the electric drive unit mounted on the drive unit mounting section, and at least the second sensor detects the weight mounted on the weight mounting section.

[0130] When either the electric drive unit or the weight is attached to the vehicle body while the other is not, the weight balance of the work vehicle becomes uneven. When both the electric drive unit and the weight are attached to the vehicle body, the weight of the work vehicle increases, making it undesirable for the work vehicle to travel at high speeds. Therefore, by encouraging the operator of the work vehicle to travel at a predetermined speed or lower, and by imposing restrictions on the vehicle's operating conditions, it is possible to suppress the work vehicle from traveling at high speeds.

[0131] Furthermore, the content of the information that the control unit notifies when the first sensor detects the electric drive unit mounted on the drive unit mounting section and the second sensor detects the weight mounted on the weight mounting section differs from the content of the information that the control unit notifies when the first sensor detects the electric drive unit mounted on the drive unit mounting section and the second sensor does not detect the weight mounted on the weight mounting section, or when the second sensor detects the weight mounted on the weight mounting section and the first sensor does not detect the electric drive unit mounted on the drive unit mounting section.

[0132] When both the electric drive unit and the weight are attached to the vehicle, the weight of the work vehicle increases, making it undesirable for the work vehicle to travel at high speeds, although it is possible to travel at low speeds. On the other hand, when only one of the electric drive unit or weight is attached to the vehicle and the other is not, the weight balance of the work vehicle becomes uneven, which may make it undesirable to travel the work vehicle even at low speeds. Therefore, by varying the content of the information provided depending on the attachment status of the electric drive unit and the weight, for example, by providing information encouraging travel at a predetermined speed or lower when both the electric drive unit and the weight are attached to the vehicle, and providing information encouraging travel to be refrained from when only one of the electric drive unit or weight is attached to the vehicle, it becomes possible to provide appropriate information according to the attachment status of the electric drive unit and the weight.

[0133] Furthermore, the slewing body is configured to be extendable and retractable, and includes a boom supported on the slewing body so as to be able to be raised and lowered. When the first sensor detects the electric drive unit mounted on the drive unit mounting section, and the second sensor does not detect the weight mounted on the weight mounting section, and the boom is in a position where it can offset the weight of the electric drive unit, the control unit broadcasts information with the same content as the information broadcast when the first sensor detects the electric drive unit mounted on the drive unit mounting section and the second sensor detects the weight mounted on the weight mounting section.

[0134] Even when an electric drive unit is attached to the vehicle body but no weights are attached, extending the boom to the opposite side from the side where the electric drive unit is attached allows the boom to offset the weight of the electric drive unit in the vehicle body's weight balance, making it possible to move the work vehicle. Therefore, when an electric drive unit is attached to the vehicle body but no weights are attached, and the boom is in a position where it can offset the weight of the electric drive unit, it is possible to provide appropriate information according to the attachment status of the electric drive unit and weights by providing information similar to the information provided when both the electric drive unit and weights are attached to the vehicle body.

[0135] Furthermore, in a driving mode in which the vehicle is driven, the control unit limits the speed at which the vehicle can travel to a smaller speed than when the first sensor does not detect the electric drive unit mounted on the drive unit mounting section and the second sensor does not detect the weight mounted on the weight mounting section.

[0136] This prevents the work vehicle from traveling at high speeds if the weight balance of the vehicle is disrupted and shifts to one side, or if the weight of the work vehicle increases.

[0137] Furthermore, the weight mounting section to which the weight is attached is a base plate holding section capable of holding a base plate laid between the outriggers of the work vehicle and the ground.

[0138] This allows the weight attachment section for mounting weights to also serve as the base plate holder, enabling more efficient use of space within the vehicle.

[0139] The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included.

[0140] All disclosures in the specification, drawings, and abstract contained in the Japanese application No. 2024-203535, filed on November 21, 2024, are incorporated herein by reference.

[0141] 1 Crane 2 Traveling body 3 Slewing body 7 Electric drive unit 23 Outrigger 23a Front outrigger 23b Rear outrigger 24 Base plate holder 25 Drive unit mounting unit 31 Boom 34 Winch 40 Controller 81 Base plate 82 Weight 97 Drive unit detection sensor 98 Weight detection sensor

Claims

1. A work vehicle comprising: a traveling body; a slewing body rotatably supported on the traveling body; work equipment provided on the traveling body and the slewing body; a drive device mounting section provided at one end of the traveling body in a first direction, on which an electric drive device for driving the work equipment is detachably mounted; a weight mounting section provided at the other end of the traveling body opposite to the one end in a first direction, on which a weight for offsetting the weight of the electric drive device is detachably mounted; a first sensor for detecting the electric drive device mounted on the drive device mounting section; a second sensor for detecting the weight mounted on the weight mounting section; and a control unit for performing safety control based on the detection results of the first and second sensors.

2. The work vehicle according to claim 1, wherein the control unit performs the safety control when, in a work mode in which work is performed using the work equipment, only the electric drive device or the weight is detected by the first sensor and the second sensor.

3. The work vehicle according to claim 2, wherein the control unit provides information that the operation of the work equipment is restricted as a safety control.

4. The work vehicle according to claim 2, wherein the control unit restricts the operation of the work equipment as a safety control.

5. The work vehicle according to claim 2, further comprising: a pair of first outriggers extending outwards and making contact with the ground on both sides in the width direction perpendicular to the first direction at the other end; and a pair of second outriggers extending outwards and making contact with the ground on both sides in the width direction at the one end, wherein the control unit performs the safety control when only the weight is detected by the second sensor and the center of gravity of the weight is on the other end side in the first direction, relative to the straight line connecting the contact points of the two first outriggers.

6. The work vehicle according to claim 1, wherein the control unit performs the safety control when at least one of the electric drive device and the weight is detected by the first sensor and the second sensor in a driving mode in which the vehicle is driven by the traveling body.

7. The work vehicle according to claim 6, wherein the control unit provides driving restriction information to encourage the imposition of restrictions on the driving conditions of the vehicle as part of the safety control.

8. The work vehicle according to claim 7, wherein the content of the information to be notified when both the electric drive device and the weight are detected is different from the content of the information to be notified when either the electric drive device or the weight is detected.

9. The work vehicle according to claim 7, wherein the slewing body is configured to be extendable and retractable and includes a boom supported on the slewing body so as to be able to be raised and lowered, and the control unit notifies the same information as when both the electric drive unit and the weight are detected when only the electric drive unit is detected by the first sensor and the boom is in a position that can offset the weight of the electric drive unit.

10. The work vehicle according to claim 6, wherein the control unit limits the travel speed of the traveling body as a safety control.

11. The work vehicle according to claim 10, wherein the control unit limits the speed at which the traveling body can travel to a speed lower than when neither the electric drive unit nor the weight is detected.

12. The work vehicle according to claim 1, wherein the weight mounting portion to which the weight is attached is a base plate holding portion capable of holding a base plate laid between the outriggers of the work vehicle and the ground.

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