Automatic outrigger deployment device, work vehicle equipped with an automatic outrigger deployment device

Abstract

The present invention provides an automatic outrigger deployment device and a work vehicle capable of automatically extending the outriggers so that one of the front or rear wheels is subjected to a lighter load than the other when the outrigger touches the ground. [Solution] An automatic installation device 1 for a work vehicle equipped with a pair of outriggers includes a ground contact detection unit 11 that detects the ground contact of each of the pair of outriggers, a front-rear tilt angle detection unit 13 that detects the tilt angle in the front-rear direction, an automatic installation control unit 14 that controls the automatic extension and installation of the pair of outriggers so that the work vehicle reaches a predetermined tilt angle according to the tilt angle detected by the front-rear tilt angle detection unit 13, and an extension speed control unit 15 that reduces the speed at which the outriggers extend when the ground contact detection unit 11 detects that the outriggers have touched the ground while the automatic installation control unit 14 is automatically extending the pair of outriggers.

Description

Technical Field

[0001] The present invention relates to an outrigger automatic installation device for automatically installing outriggers mounted on a crane-mounted vehicle such as a truck, and a work vehicle equipped with the outrigger automatic installation device.

Background Art

[0002] In a crane-mounted vehicle (work vehicle) with a crane mounted on a truck having a loading platform, in order to ensure the stability of the vehicle body during work using the crane, for example, as disclosed in Patent Document 1, it includes outriggers mounted between the cab and the loading platform when viewed from the side direction.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a work vehicle with a crane, when installing the outriggers, it is necessary to extend and retract the outriggers so that the work vehicle reaches a predetermined inclination angle. The predetermined inclination angle is, for example, an angle at which one of the front wheels and the rear wheels receives a lighter load than the other while the outriggers are grounded. In such a work vehicle, when automatically extending and retracting the outriggers for installation, there is a problem that it is difficult to extend and retract the outriggers so that the inclination angle of the work vehicle becomes the predetermined inclination angle at which the installation of the outriggers is completed.

[0005] In view of the above problems, an object of the present invention is to provide an outrigger automatic installation device capable of automatically extending the outriggers so that the work vehicle reaches a predetermined inclination angle while the outriggers are grounded, and a work vehicle equipped with the outrigger automatic installation device. [Means for solving the problem]

[0006] An automatic outrigger placement device according to one aspect of the present invention is mounted on a work vehicle having front and rear wheels, and automatically places a pair of outriggers so that the work vehicle is at a predetermined tilt angle. The pair of outriggers can be extended and retracted vertically from both the left and right sides of the work vehicle. The automatic outrigger placement device also includes a ground contact detection unit, a longitudinal tilt angle detection unit, an automatic placement control unit, and an extension speed control unit. The ground contact detection unit detects when each of the pair of outriggers is on the ground. The longitudinal tilt angle detection unit detects the longitudinal tilt angle of the work vehicle. The automatic placement control unit controls the automatic extension and placement of the pair of outriggers so that the work vehicle is at a predetermined tilt angle according to the tilt angle detected by the longitudinal tilt angle detection unit. The extension speed control unit controls the speed at which each of the pair of outriggers extends. Furthermore, when the ground contact detection unit detects that the outriggers are on the ground while the automatic placement control unit is automatically extending the pair of outriggers, the extension speed control unit reduces the speed at which the outriggers extend.

[0007] Furthermore, a work vehicle according to one aspect of the present invention is equipped with an automatic outrigger setting device. [Effects of the Invention]

[0008] According to the present invention, it is possible to provide an automatic outrigger setting device that can automatically extend the outriggers so that the outriggers make contact with the ground when one of the front wheels or rear wheels is subjected to a lighter load than the other, and a work vehicle equipped with the automatic outrigger setting device. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side view of a vehicle-mounted crane equipped with an automatic outrigger setting device according to an embodiment. [Figure 2] This is a front view of the crane after it has been removed from the vehicle. [Figure 3]This is a block diagram showing the configuration of an automatic outrigger placement device. [Figure 4] This diagram shows the control performed by the extension speed control unit. [Figure 5] This is a flowchart showing the process performed by the automatic outrigger placement device. [Figure 6] This figure shows the relationship between the speed at which the outriggers are extended and the amount of outrigger extension. [Modes for carrying out the invention]

[0010] The following description will refer to the drawings as appropriate, with reference to the drawings, to an automatic outrigger placement device according to the present invention and a crane-mounted vehicle, which is one embodiment of a work vehicle equipped with the automatic outrigger placement device. Note that the drawings are schematic. Therefore, it should be noted that the relationship and ratio of thickness and planar dimensions may differ from those in reality, and there may be parts where the dimensional relationships and ratios differ between drawings. Furthermore, the embodiments shown below are illustrative examples of devices and methods for realizing the technical idea of ​​the present invention, and the technical idea of ​​the present invention is not limited to the following embodiments in terms of the material, shape, structure, arrangement, etc. of the components.

[0011] (Embodiment) <Structure> As shown in Figure 1, the crane-mounted vehicle 100, which is equipped with an automatic outrigger setting device (which may be referred to as the "automatic setting device" in the following description), comprises a vehicle body 101 and a crane 105.

[0012] In this embodiment, we will describe a case where the vehicle body 101 is a truck having front wheels FW and rear wheels RW, as shown in Figure 1. That is, the work vehicle is a vehicle having front wheels FW and rear wheels RW. In the following description and drawings, the direction in which the crane-mounted vehicle 100 moves forward (the direction in which it travels when the shift is selected to the D range or the like) may be described as "forward". Similarly, in the following description and drawings, the direction in which the crane-mounted vehicle 100 moves backward (the direction in which it travels when the shift is selected to the R range) may be described as "backward". Further, in the following description and drawings, "left side" refers to the left side of the driver who drives the crane-mounted vehicle 100, and "right side" refers to the right side of the driver who drives the crane-mounted vehicle 100. Therefore, in the following description and drawings, "left side view" refers to the perspective of viewing the driver who drives the crane-mounted vehicle 100 from the left side, and "right side view" refers to the perspective of viewing the driver who drives the crane-mounted vehicle 100 from the right side. Also, in the following description, "left side view" and "right side view" may be collectively described as "side view".

[0013] The vehicle body 101 includes a loading platform 102, a cab 103, and a chassis frame 104. On the loading platform 102, for example, a load (such as building materials) to be lifted by the crane 105 is placed.

[0014] In the cab 103, the operator of the crane-mounted vehicle 100 and the like sit. The chassis frame 104 constitutes the skeleton of the vehicle body 101.

[0015] The crane 105 is mounted on the chassis frame 104. Further, the crane 105 includes a base 91, a column 92, a boom 93, a hook 94, and various actuators (not shown).

[0016] The base 91 is formed in a square tube shape and includes outriggers 80. The column 92 is provided on the base 91 so as to be rotatable.

[0017] The boom 93 is a telescopic boom and is attached to the upper end of the column 92 so as to be able to rise and fall. The tip side of the wire rope 106 is fixed to the hook 94. The wire rope 106 is wound around a winch (not shown) provided on the column 92 from the base end side. Further, the tip side of the wire rope 106 is fed out from the winch and arranged at the tip of the boom 93, and is further fixed to the hook 94. Thereby, the hook 94 is suspended from the tip of the boom 93.

[0018] The various actuators include actuators for performing the turning of the column 92 (boom 93), the raising / lowering and telescoping of the boom 93, the hoisting and lowering of the hook 94 by the winch, and the telescoping of the outrigger 80. Also, the various actuators are operated by individually supplying pressure oil from a hydraulic pressure supply source (not shown) provided in the vehicle body 101 through a switching control valve device.

[0019] (Outrigger) The outrigger 80 is mounted on the crane-mounted vehicle 100, and as shown in FIG. 2, includes a pair of left and right horizontal outrigger boxes 81, a pair of left and right vertical outrigger boxes 82, and an automatic installation device 1. In FIG. 2, the configuration of the outrigger 80 is shown with omission. Also, in the drawings and the following description, among the pair of left and right vertical outrigger boxes 82, the left vertical outrigger box 82 disposed on the left side may be described as the "left vertical outrigger box 82L". Similarly, in the drawings and the following description, among the pair of left and right vertical outrigger boxes 82, the right vertical outrigger box 82 disposed on the right side may be described as the "right vertical outrigger box 82R".

[0020] Further, the configuration of the pair of outriggers 80 is such that when it extends in a grounded state, for example, on a flat and uniform ground, the load applied to the front wheels FW is smaller than the load applied to the rear wheels RW. The horizontal outrigger box 81 is formed in a square tube shape.

[0021] The base end side of the horizontal outrigger box 81 is inserted into the inside of the base 91. Thereby, the horizontal outrigger box 81 can slide in the left-right direction with respect to the base 91. Furthermore, the lateral outrigger box 81 can be slid to either the extended position H or the retracted position K.

[0022] The extended position H is the position where the lateral outrigger box 81 extends from the base 91 to the right and left of the vehicle body 101. The retracted position K is the position where the lateral outrigger box 81 is retracted inside the base 91. In this embodiment, we will describe a case in which the operator slides the lateral outrigger box 81 by grasping the gripping portion (not shown) provided on the outrigger 80 with their hand and performing a pulling or pushing motion.

[0023] The vertical outrigger box 82 is located at the tip of the horizontal outrigger box 81. Furthermore, the vertical outrigger box 82 includes an outer box 83, an inner box 84, an outrigger cylinder (not shown), and a float 85.

[0024] The outer box 83 is formed in a cylindrical (or rectangular) shape and is fixed to the tip of the lateral outrigger box 81. The longitudinal direction of the outer box 83 is perpendicular to the longitudinal direction of the lateral outrigger box 81 when viewed from the front or rear. The four outer surfaces of the outer box 83 are parallel to the travel direction and left-right direction of the vehicle body 101. Therefore, the longitudinal direction of the outer box 83 is oriented parallel to the height direction of the crane-mounted vehicle 100. The inner box 84 is formed in a rectangular tube shape with a smaller outer diameter than the outer box 83, and together with the outer box 83, it forms the vertical outrigger box 82.

[0025] One end of the inner box 84 is inserted into the outer box 83. This allows the inner box 84 to slide vertically relative to the outer box 83. The outrigger cylinder is positioned inside the outer box 83 and inner box 84, with the inner box 84 inserted inside the outer box 83.

[0026] One end of the outrigger cylinder is fixed to the upper part of the outer box 83 inside the outer box 83. The other end of the outrigger cylinder is fixed to the lower part of the inner box 84 inside the inner box 84. Therefore, when the outrigger cylinder is extended or retracted, the inner box 84 slides vertically. In other words, by displacing the inner box 84 relative to the outer box 83, the vertical outrigger box 82 is extended or retracted. In other words, the outrigger cylinders of the vertical outrigger box 82 form actuators that extend and retract the vertical outrigger box 82 by displacing the inner box 84 relative to the outer box 83, which is one of the various actuators provided by the crane 105.

[0027] The float 85 is, for example, a plate-shaped member formed in a quadrilateral shape. The float 85 is attached to the other end of the inner box 84 with its thickness direction oriented parallel to the length direction of the inner box 84. As described above, the pair of outriggers 80 are mounted on a work vehicle (crane-equipped vehicle 100), and can protrude outward in the width direction from both the left and right sides of the work vehicle, as well as be extendable and retractable in the vertical direction.

[0028] <Configuration of the automated installation device> As shown in Figure 3, the automatic installation device 1 includes a ground contact detection unit 11, a vehicle width direction tilt angle detection unit 12, a front-rear direction tilt angle detection unit 13, an automatic installation control unit 14, and an extension speed control unit 15.

[0029] (Ground detection unit) The ground contact detection unit 11 detects whether or not each of the pair of outriggers 80 is in contact with the ground by detecting, for example, the force received by the jack (not shown) provided by the outrigger 80 as a ground reaction force, thereby detecting whether or not the outrigger is in contact with the ground. Furthermore, when the grounding detection unit 11 detects that the outrigger 80 is grounded, it outputs a grounding signal containing information that the outrigger is grounded to the automatic installation control unit 14 and the extension speed control unit 15.

[0030] (Vehicle width direction tilt angle detection unit) The vehicle width direction tilt angle detection unit 12 is, for example, attached to the vehicle body 101 and is formed using a distance sensor capable of detecting the distance to the contact surface (ground, road, etc.). Furthermore, the vehicle width direction inclination angle detection unit 12 detects the inclination angle in the vehicle width direction of the work vehicle (crane-equipped vehicle 100). In addition, when the vehicle width direction inclination angle detection unit 12 detects the inclination angle in the vehicle width direction, it outputs a vehicle width direction inclination angle signal, including the inclination angle in the vehicle width direction, to the automatic installation control unit 14 and the extension speed control unit 15.

[0031] (Front-to-back tilt angle detection unit) The longitudinal tilt angle detection unit 13, like the vehicle width direction tilt angle detection unit 12, is formed using, for example, a distance sensor attached to the vehicle body 101 that can detect the distance to the ground surface. Furthermore, the longitudinal tilt angle detection unit 13 detects the longitudinal tilt angle of the work vehicle (crane-mounted vehicle 100). In addition, when the longitudinal tilt angle detection unit 13 detects the longitudinal tilt angle, it outputs a longitudinal tilt angle signal, including the longitudinal tilt angle, to the automatic installation control unit 14 and the extension speed control unit 15.

[0032] Furthermore, the configuration of the vehicle width direction tilt angle detection unit 12 and the front-rear direction tilt angle detection unit 13 can be, for example, a configuration that includes a calculation unit that determines the tilt angle and tilt direction based on the distance detected by the distance sensor, and a storage unit that stores the distance detected by the distance sensor. In this configuration, for example, a distance sensor detects the initial distance to the ground surface and stores the detected distance as a reference distance in the memory unit. The distance sensor also periodically detects the distance to the ground surface after detecting the initial distance. The reference distance is measured, for example, when the operator inputs that the crane-mounted vehicle 100 has been leveled by the jacks provided on the outriggers 80. The state in which the crane-mounted vehicle 100 is "leveled" means that the crane-mounted vehicle 100 is level with respect to the ground surface of the outriggers 80. Therefore, the initial inclination (angle of inclination) that serves as the reference for levelness is the inclination (angle of inclination) of the ground surface.

[0033] The calculation unit then reads the reference distance stored in the memory unit, compares it with the distance detected by the distance sensor after measuring the reference distance, and calculates the tilt angle and direction of the crane-mounted vehicle 100 from the variation in distance. Furthermore, the memory unit stores the reference distance and the inclination angle calculation program. The calculations performed by the calculation unit are realized when the CPU (Central Processing Unit) executes the inclination angle calculation program.

[0034] (Automatic installation control unit) The automatic installation control unit 14 controls the automatic extension and installation of the pair of outriggers 80 in response to an automatic installation request from an operator or the like. The automatic installation control unit 14 controls the automatic extension and installation of the pair of outriggers 80 by, for example, outputting a command signal from the automatic installation control unit 14 to the accelerator controller 20 to operate the outrigger cylinders 30 so that the outriggers 80 extend. Furthermore, the control performed by the automatic installation control unit 14 is to automatically extend and install the pair of outriggers 80 so that the work vehicle is at a predetermined tilt angle, according to the tilt angle detected by the vehicle width direction tilt angle detection unit 12 and the front-rear direction tilt angle detection unit 13. The predetermined inclination angle includes the inclination angle of the work vehicle in the longitudinal direction and the inclination angle of the work vehicle in the width direction. In this embodiment, as an example, we will describe a case where, among the predetermined inclination angles, the inclination angle in the longitudinal direction of the work vehicle is set based on the state in which the crane-mounted vehicle 100 is horizontal to the ground surface (contact surface) of the outrigger 80. The inclination angle in the longitudinal direction of the work vehicle among the predetermined inclination angles is, for example, the angle in which, with the outrigger 80 in contact with the ground, one of the front wheels FW and the rear wheels RW receives a lighter load than the other. Furthermore, in this embodiment, as an example, we will describe a case where, among the predetermined inclination angles, the inclination angle in the width direction of the work vehicle is set based on the state in which the crane-mounted vehicle 100 is horizontal with respect to the vertical direction (horizontal with respect to gravity). This is because, for example, if the contact surface of the outrigger 80 is an inclined surface, if the inclination angle in the width direction of the work vehicle is set without being based on the state in which the crane-mounted vehicle 100 is horizontal with respect to the vertical direction, there is a possibility that the crane-mounted vehicle 100 may tip over on the side that is the valley in the direction of the inclination. In addition, to prevent the crane-mounted vehicle 100 from tipping over, a spirit level may be used when installing the outrigger 80. An automatic setup request is a request to automatically set up a pair of outriggers 80, and is output by the operation of the controller, etc. Furthermore, an automatic setup request is received, for example, when the lateral outrigger box 81 is in the extended position H.

[0035] The accelerator controller 20 controls the amount of pressurized oil supplied to the outrigger cylinder 30 by changing the opening degree (accelerator opening), thereby changing the speed at which the outrigger cylinder 30 extends and retracts. The outrigger cylinder 30 is formed using a hydraulic cylinder and extends and retracts the outrigger 80.

[0036] Each outrigger cylinder 30 is equipped with a pair of outriggers 80. Therefore, the extension speed control unit 15 outputs separate command signals to the outrigger cylinders 30 of each pair of outriggers 80.

[0037] Furthermore, the engine 40, PTO 50, and pump 60 are positioned between the accelerator controller 20 and the outrigger cylinder 30. Engine 40 is the power source for the crane-equipped vehicle 100.

[0038] The pump 60 is connected to the engine 40 via the PTO 50 (Power Take Off) and is driven by the engine 40. The pump 60 also supplies hydraulic fluid from the hydraulic fluid tank (not shown) to the outrigger cylinder 30 via the outrigger valve 70. The outrigger valve 70 opens and closes the supply path of pressurized oil to the outrigger cylinder 30 in response to a command signal input from the extension speed control unit 15. In addition to the pump 60 and the outrigger cylinder 30, the outrigger valve 70 is also connected to a hydraulic oil tank, although this is not shown in the figure.

[0039] Furthermore, when the automatic installation control unit 14 receives an automatic installation request while the grounding detection unit 11 has detected grounding of the pair of outriggers 80 (i.e., it has received a grounding signal), it prohibits the automatic control of the pair of outriggers 80. Therefore, in the configuration of this embodiment, when the pair of outriggers 80 are on the ground, the automatic extension and retraction of the outriggers 80 is prohibited, and the outriggers 80 can only be moved by manual operation.

[0040] Furthermore, if the automatic installation control unit 14 has prohibited automatic control of the pair of outriggers 80 and wants to resume automatic installation, it will output, for example, an audio prompt to manually operate the outriggers 80. Subsequently, when it detects manual operation of the outriggers 80 by an operator or the like, the automatic installation control unit 14 can resume automatic installation.

[0041] (Extension speed control unit) The extension speed control unit 15 controls the speed at which the outriggers 80 extend when the automatic installation control unit 14 is automatically extending the pair of outriggers 80.

[0042] Specifically, when the extension speed control unit 15 detects that the outrigger 80 is grounded (receives a grounding signal) while the automatic installation control unit 14 is performing control, it reduces the extension speed of at least one of the pair of outriggers 80. At this time, the extension speed control unit 15 reduces the extension speed of at least one of the pair of outriggers 80 compared to before the grounding detection unit 11 detected that the pair of outriggers 80 was grounded (when no grounding signal was received). In addition, the extension speed control unit 15 reduces the speed at which at least one of the pair of outriggers 80 extends, according to the tilt angle detected by the vehicle width direction tilt angle detection unit 12 and the front-rear direction tilt angle detection unit 13.

[0043] At this time, the extension speed control unit 15 reduces the speed at which the outriggers 80 extend, for example, so that the load applied to the front wheels FW becomes smaller than the load applied to the rear wheels RW. Furthermore, the condition where "the load on the front wheels (FW) is less than the load on the rear wheels (RW)" refers to a state where, for example, the rear wheels (RW) are fully in contact with the ground, as in driving or parking, and the front wheels (FW) are in contact with the ground just before they leave the ground. In other words, the condition where "the load on the front wheels (FW) is less than the load on the rear wheels (RW)" refers to a state where, for example, the rear wheels (RW) are fully in contact with the ground, and the front wheels (FW) are in contact with the ground without lifting off. The reason why the rear wheels (RW) are considered to be in full contact with the ground, while the front wheels (FW) are not lifted off the ground, is explained, for example, in the "Supplementary Text on Knowledge about Small Mobile Cranes (Japanese)" published by the Ministry of Health, Labour and Welfare (Internet search). <url: https: www.mhlw.go.jp stf newpage_11114.html#:~:text="%E5%8E%9A%E7%94%9F%E5%8A%B4%E5%83%8D%E7%9C%81%E3%81%A7%E3%81%AF%E3%80%81%E5%A4%96%E5%9B%BD">This is shown in particular in the upper diagram on page 49 of the document.

[0044] In one embodiment, as an example, a case will be described in which the extension speed control unit 15 controls the opening degree of the accelerator controller 20 and the opening and closing of the outrigger valve 70 to control the speed at which the pair of outriggers 80 extend. Therefore, in this embodiment, the extension speed control unit 15 controls the speed at which the outrigger 80 extends by, for example, outputting a command signal from the extension speed control unit 15 to the accelerator controller 20 to operate the outrigger cylinder 30 so that the speed at which the outrigger 80 extends decreases. In addition, the extension speed control unit 15 also controls the outrigger valve 70 by outputting a command signal to open and close the outrigger valve 70 so that the speed at which the outrigger 80 extends decreases.

[0045] Furthermore, the outrigger valve 70 independently opens and closes the supply path for pressurized oil to the outrigger cylinder 30, which is provided to each of the pair of outriggers 80. Therefore, the extension speed control unit 15 outputs separate command signals to the outrigger cylinders 30 of each pair of outriggers 80.

[0046] <Control performed by the extension speed control unit> The specific control performed by the extension speed control unit 15 will be explained below, referring to Figures 1 to 3 and using Figure 4.

[0047] As shown in Figure 4, the extension speed control unit 15 outputs command signals to the accelerator controller 20 and the outrigger valve 70 so that the accelerator opening becomes "255" before the outrigger 80 touches the ground while the control by the automatic installation control unit 14 is being performed. Note that "before the outrigger 80 touches the ground" refers to a time before the "outrigger touch-down time" shown in Figure 4. In this embodiment, as an example, the case where the maximum accelerator opening is "255" will be described.

[0048] Then, when the ground contact detection unit 11 detects that the outrigger 80 has made contact with the ground (outrigger ground contact time), the extension speed control unit 15 outputs a command signal to the accelerator controller 20 and the outrigger valve 70 so that the accelerator opening is reduced to "5". Furthermore, the process by which the extension speed control unit 15 outputs a command signal to reduce the accelerator opening to "5" continues even after the installation of the outriggers 80 is completed (installation completion time).

[0049] Furthermore, the accelerator opening of "150" shown in Figure 4 represents the ideal accelerator opening from the time the outrigger touches down to the time the setup is completed. However, if the control is performed to reduce the accelerator opening from "255" to "150" at the time the outrigger touches down, in reality, it is difficult to reduce the accelerator opening to "150" even at the time the setup is completed. In this embodiment, by controlling the accelerator opening from "255" to "5" at the time the outrigger touches down, it is possible to reduce the accelerator opening at the time of installation completion to the ideal value of "150," as shown in Figure 4.

[0050] <Control performed by the automatic installation device> The specific processes performed by the automatic installation device 1 will be explained below, referring to Figures 1 through 4 and using Figure 5.

[0051] As shown in Figure 5, when the automatic installation device 1 starts processing, first in step S1, the grounding detection unit 11 performs a process (grounding detection process) to detect whether or not the outrigger 80 is grounded. After the grounding detection process is completed, the process proceeds to step S2. In step S2, the vehicle width direction tilt angle detection unit 12 and the longitudinal direction tilt angle detection unit 13 perform a process (tilt detection process) to detect the tilt angle in the vehicle width direction and the tilt angle in the longitudinal direction. After the tilt detection process is completed, the process proceeds to step S3.

[0052] Step S3 is the process of determining whether or not an automatic installation request has been received (receiving an automatic installation request). If it is determined in step S3 that an automatic installation request has been received ("Y"), the process proceeds to step S4. On the other hand, if it is determined in step S3 that no automatic installation request has been received ("N"), the process proceeds to step S5. In step S4, the automatic installation control unit 14 performs control to automatically extend and install the pair of outriggers 80 (automatic installation control). Once the automatic installation control is performed, the process proceeds to step S6.

[0053] In step S5, if automatic installation control is already being performed, the automatic installation control unit 14 performs a process to stop the automatic installation control (installation stop process). Also in step S5, if automatic installation control is not being performed, the automatic installation control unit 14 performs a process to prohibit the automatic control of the pair of outriggers 80 (installation stop process). After the installation stop process is performed, the process proceeds to step S1. In step S6, the ground detection unit 11 performs a process to determine whether each of the pair of outriggers 80 is grounded (left / right ground determination). If it is determined in step S6 that each of the pair of outriggers 80 is grounded ("Y"), the process proceeds to step S7. On the other hand, if it is determined in step S6 that neither of the pair of outriggers 80 is grounded ("N"), the process proceeds to step S8.

[0054] In step S7, the front-rear tilt angle detection unit 13 detects the front-rear tilt angle and performs a process to determine whether the front-rear tilt angle is a predetermined tilt angle (front-rear tilt determination). If it is determined in step S7 that the front-rear tilt angle is a predetermined tilt angle ("Y"), the process proceeds to step S5. On the other hand, if it is determined in step S7 that the front-rear tilt angle is not a predetermined tilt angle ("N"), the process proceeds to step S15. In step S8, the ground detection unit 11 performs a process to determine whether the outrigger 80 positioned on the right side of the pair of outriggers 80 is grounded (right ground determination). If it is determined in step S8 that the outrigger 80 positioned on the right side is grounded ("Y"), the process proceeds to step S9. On the other hand, if it is determined in step S8 that the outrigger 80 positioned on the right side is not grounded ("N"), the process proceeds to step S11.

[0055] In step S9, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle of the left outrigger 80 of the pair of outriggers 80 becomes "255" (left accelerator opening angle 255). After the processing in step S9 is completed, the process proceeds to step S10. In step S10, the extension speed control unit 15 outputs a command signal to the outrigger valve 70 so that the left-side outrigger 80 of the pair of outriggers 80 extends (left extension). After the processing in step S10 is completed, the process proceeds to step S1.

[0056] In step S11, the ground detection unit 11 performs a process to determine whether the left-side outrigger 80 of the pair of outriggers 80 is grounded (left-side grounding determination). If it is determined in step S11 that the left-side outrigger 80 is grounded ("Y"), the process proceeds to step S12. On the other hand, if it is determined in step S11 that the left-side outrigger 80 is not grounded ("N"), the process proceeds to step S14. In step S12, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle of the right-hand outrigger 80 of the pair of outriggers 80 becomes "255" (right accelerator opening angle 255). After the processing in step S12 is completed, the process proceeds to step S13.

[0057] In step S13, the extension speed control unit 15 outputs a command signal to the outrigger valve 70 so that the right-hand outrigger 80 of the pair of outriggers 80 is extended (right extension). After the processing in step S13 is completed, the process proceeds to step S1. In step S14, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle for each of the pair of outriggers 80 becomes "255" (both accelerator opening angles 255). After the processing in step S14 is completed, the process proceeds to step S22.

[0058] In step S15, the vehicle width direction tilt angle detection unit 12 detects the tilt angle in the vehicle width direction and performs a process to determine whether the tilt angle of the work vehicle in the vehicle width direction is such that the right side is higher than the left side, based on a predetermined tilt angle (upper right tilt determination). If in step S15 it is determined that the tilt angle of the work vehicle in the vehicle width direction is such that the right side is higher than the left side ("Y"), the process proceeds to step S16. On the other hand, if in step S15 it is determined that the tilt angle of the work vehicle in the vehicle width direction is not such that the right side is higher than the left side ("N"), the process proceeds to step S18. In step S16, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle of the left outrigger 80 of the pair of outriggers 80 becomes "5" (left accelerator opening angle 5). After the processing in step S16 is completed, the process proceeds to step S17.

[0059] In step S17, the extension speed control unit 15 outputs a command signal to the outrigger valve 70 so that the left-side outrigger 80 of the pair of outriggers 80 is extended (left extension). After the processing in step S17 is completed, the process proceeds to step S1. In step S18, the vehicle width direction tilt angle detection unit 12 detects the tilt angle in the vehicle width direction and performs a process to determine whether the tilt angle of the work vehicle in the vehicle width direction is such that the left side is higher than the right side, based on a predetermined tilt angle (upper left tilt determination). If, in step S18, it is determined that the tilt angle of the work vehicle in the vehicle width direction is such that the left side is higher than the right side ("Y"), the process proceeds to step S19. On the other hand, if, in step S18, it is determined that the tilt angle of the work vehicle in the vehicle width direction is not such that the left side is higher than the right side ("N"), the process proceeds to step S21.

[0060] In step S19, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle of the right-hand outrigger 80 of the pair of outriggers 80 becomes "5" (right accelerator opening angle 5). After the processing in step S19 is completed, the process proceeds to step S20. In step S20, the extension speed control unit 15 outputs a command signal to the outrigger valve 70 so that the right-hand outrigger 80 of the pair of outriggers 80 is extended (right extension). After the processing in step S20 is completed, the process proceeds to step S1.

[0061] In step S21, the extension speed control unit 15 outputs a command signal to the accelerator controller 20 so that the accelerator opening angle for each of the pair of outriggers 80 becomes "5" (both accelerator opening angles set to 5). After the processing in step S21 is completed, the process proceeds to step S22. In step S22, the extension speed control unit 15 outputs a command signal to the outrigger valve 70 so that each of the pair of outriggers 80 extends (extension of both sides). After the processing in step S22 is completed, the process proceeds to step S1.

[0062] <Operation / effect> Next, referring to Figures 1 to 5, and using Figure 6, the operation and function of the automatic installation device 1 and the work vehicle equipped with the automatic installation device 1 will be explained.

[0063] When using the crane 105, first the crane-mounted vehicle 100 is moved to a position suitable for using the crane 105 and parked there. Then, as shown in Figure 2, the lateral outrigger box 81 is slid from the stowed position K to the extended position H. Subsequently, an operator or other user requests automatic installation, and the automatic installation control unit 14 controls the automatic extension and installation of the pair of outriggers 80.

[0064] Here, as shown by the dotted line in Figure 6, if the speed at which the outrigger 80 is extended is fast, the actual length of the outrigger 80 extended between the time when the extended length of the outrigger 80 (outrigger extension amount) reaches the target value (time of achieving the target value) and the time when the automatic installation of the outrigger 80 is completed (installation completion time) will significantly exceed the target value (excess amount "Ef" shown in Figure 6). Note that "when the speed at which the outrigger 80 is extended is fast" refers to a case, unlike the embodiment, where, for example, the automatic deployment of the outrigger 80 is completed while the accelerator opening is kept constant. Also, "target value" refers to the length of the outrigger 80 when it is extended and in the state where it is on the ground.

[0065] In contrast, in this embodiment, the speed at which the outrigger 80 extends is reduced from the time the grounding detection unit 11 detects grounding of the outrigger 80 during the execution of control by the automatic installation control unit 14 (target value achievement time). As a result, as shown by the solid line in Figure 6, compared to the case where the speed at which the outrigger 80 extends is fast (dotted line), it is possible to reduce the excess amount (excess amount "Es", Ef>Es shown in Figure 6) of the actual length of the outrigger 80 extended from the target value to the installation completion time.

[0066] <Effects and Effects of the Embodiment> The automatic installation device 1 of this embodiment can achieve the following functions and effects. (1) The system includes a ground contact detection unit 11 for detecting the ground contact of each of the pair of outriggers 80, a vehicle width direction inclination angle detection unit 12 for detecting the inclination angle of the work vehicle in the vehicle width direction, and a longitudinal direction inclination angle detection unit 13 for detecting the inclination angle of the work vehicle in the longitudinal direction. In addition, it includes an automatic installation control unit 14 that controls the automatic extension and installation of the pair of outriggers 80 so that the work vehicle reaches a predetermined inclination angle according to the inclination angles detected by the vehicle width direction inclination angle detection unit 12 and the longitudinal direction inclination angle detection unit 13. Furthermore, when the ground contact detection unit 11 detects that the outriggers 80 have ground contact while the automatic installation control unit 14 is automatically extending the pair of outriggers 80, it includes an extension speed control unit 15 that reduces the speed at which the outriggers 80 extend. As a result, it becomes possible to provide an automatic installation device 1 that can automatically extend the outriggers 80 so that the outriggers 80 make contact with the ground when one of the front wheels FW and the rear wheels RW is under a lighter load than the other.

[0067] Furthermore, compared to a configuration in which control is not performed to reduce the speed at which the outrigger 80 extends from the moment the grounding detection unit 11 detects that the outrigger 80 is grounded, it becomes possible to reduce the excess amount of the outrigger 80's extended length from the target value. This reduces the need to retract the extended outriggers 80, thereby reducing the load on the ground, outriggers 80, vehicle body 101, etc. In addition, it makes it possible to improve the deployment speed of the outriggers 80.

[0068] (2) The extension speed control unit 15 controls the speed at which the pair of outriggers 80 extend by controlling the opening of the accelerator controller 20 and the opening and closing of the outrigger valve 70. As a result, compared to a configuration that controls the speed at which the outrigger 80 extends without controlling the opening and closing of the outrigger valve 70, it is possible to improve the response speed in controlling the speed at which the outrigger 80 extends.

[0069] (3) The automatic installation control unit 14 controls the automatic extension and installation of the pair of outriggers 80 in response to an automatic installation request to automatically install the pair of outriggers 80. In addition, when the automatic installation control unit 14 receives an automatic installation request while the ground detection unit 11 has detected grounding of the pair of outriggers 80, it prohibits the automatic control of the pair of outriggers 80. As a result, it becomes possible to suppress the tipping of the work vehicle due to unexpected movements, as well as the entanglement of the outriggers 80.

[0070] In other words, for example, if a long period of time passes with the outriggers 80 in place, changes in weather or ground hardness may cause the wheels with the heavier loads (front FW and rear RW) or the outriggers 80 themselves to sink, causing the work vehicle's tilt angle to change from a predetermined angle. In this case, in order to automatically readjust the outriggers 80, it is necessary to retract the outriggers 80 to measure the tilt angle before they were set up. However, it is possible that operators or other personnel may automatically extend the outriggers 80 when the work vehicle's tilt angle has changed from a predetermined angle, which is a different action from retracting the outriggers 80. Therefore, unexpected movement of the outriggers 80 may cause accidents. In contrast, with the configuration of this embodiment, when the automatic installation control unit 14 receives an automatic installation request while the grounding detection unit 11 has detected the grounding of the pair of outriggers 80, it prohibits the automatic control of the pair of outriggers 80. This makes it possible to suppress the tipping of the work vehicle due to unexpected movement of the outriggers 80, or the outriggers 80 getting caught in something, thereby reducing the possibility of accidents.

[0071] (4) The angle of inclination in the front-rear direction among the predetermined inclination angles is set based on the state in which the crane-mounted vehicle 100 is horizontal with respect to the ground surface of the outrigger 80. As a result, the front-to-rear inclination angle of the predetermined inclination angle is set by the relationship between the contact surface of the crane-mounted vehicle 100 and the outrigger 80, rather than by the state in which the outrigger 80 is in contact with the ground, i.e., the state in which the crane-mounted vehicle 100 is lifted by the outrigger 80. This makes it possible to improve the accuracy of automatically extending the outriggers 80 so that the outriggers 80 make contact with the ground when one of the front wheels FW or rear wheels RW is under a lighter load than the other. (5) The angle of inclination in the vehicle width direction among the predetermined inclination angles is set based on the state in which the crane-mounted vehicle 100 is horizontal with respect to the vertical direction. As a result, the inclination angle in the vehicle width direction of the predetermined inclination angle is set according to the direction in which gravity acts, rather than the state of the contact surface of the outrigger 80. This makes it possible to improve the accuracy of automatically extending the outriggers 80 to prevent the crane-mounted vehicle 100 from tipping over. The work vehicle of this embodiment can achieve the following functions and effects. (6) When the ground contact detection unit 11 detects that the outriggers 80 are on the ground while the pair of outriggers 80 are being automatically extended, the automatic installation device 1 reduces the speed at which the outriggers 80 extend according to the tilt angle detected by the front-rear tilt angle detection unit 13. As a result, it becomes possible to provide a work vehicle that can automatically extend the outriggers 80 so that the outriggers 80 make contact with the ground when one of the front wheels FW or rear wheels RW is under a lighter load than the other.

[0072] <Variation> (1) In this embodiment, the configuration of the pair of outriggers 80 is such that when extended while on the ground, the load applied to the front wheels FW is less than the load applied to the rear wheels RW, but the configuration is not limited to this. That is, for example, the configuration of the pair of outriggers 80 is such that when extended while on the ground, the load applied to the rear wheels RW is less than the load applied to the front wheels FW, but the configuration is not limited to this. In this case, the state in which "the load applied to the rear wheels RW is less than the load applied to the front wheels FW" refers to a state in which the front wheels FW are completely on the ground, as in driving or parking, and the rear wheels RW are on the ground just before they leave the ground. A pair of outriggers with such a configuration differs from the configuration shown in Figure 1, that is, the configuration in which they are arranged between the cargo bed 102 and the driver's cab 103, and is, for example, an outrigger arranged near the rear wheels RW. Therefore, the configuration of the pair of outriggers 80 should be such that when the pair of outriggers 80 are extended while on the ground, the load applied to the other of the front wheel FW and rear wheel RW is less than the load applied to the other of the front wheel FW and rear wheel RW. As shown in Figure 1, etc., in a configuration where the crane-mounted vehicle 100 has the crane body 105 and engine 40 located at the front of the vehicle, when performing forward lifting (lifting operations of loads performed in the forward area of ​​the crane-mounted vehicle 100), the point of tipping shifts from the outrigger 80 to the front wheel FW. When the point of tipping shifts from the outrigger 80 to the front wheel FW, if the front wheel FW is in a state where it is completely on the ground (the same state as when driving or parked), the load on the axle supporting the front wheel FW increases, which may cause an accident. In contrast, if the load on the front wheels (FW) is smaller than the load on the rear wheels (RW), it becomes possible to reduce the load on the axle supporting the front wheels (FW) even when the vehicle is suspended from the front, thereby reducing the possibility of accidents. (2) In this embodiment, the pair of outriggers 80 are configured to be able to protrude outward in the width direction from both the left and right sides of the work vehicle and to be able to extend and retract in the vertical direction, but the configuration is not limited to this. That is, the pair of outriggers 80 may be configured to be able to extend and retract in the vertical direction from both the left and right sides of the work vehicle, such as a vehicle carrier equipped with a crane, within the width of the vehicle. (3) In this embodiment, the automatic installation control unit 14 is configured to automatically extend and install a pair of outriggers 80 so that the work vehicle reaches a predetermined tilt angle, according to the tilt angle detected by the vehicle width direction tilt angle detection unit 12 and the front-rear direction tilt angle detection unit 13. However, it is not limited to this configuration. That is, the automatic installation control unit 14 may be configured to automatically extend and install a pair of outriggers 80 so that the work vehicle reaches a predetermined tilt angle, according only to the tilt angle detected by the front-rear direction tilt angle detection unit 13. Even with this configuration, it is possible to provide an automatic installation device 1 and a work vehicle that can automatically extend the outriggers 80 so that the outriggers 80 make contact with the ground when one of the front wheels FW and the rear wheels RW is under a lighter load than the other.

[0073] (4) In this embodiment, the vehicle width direction tilt angle detection unit 12 is configured using a distance sensor, but it is not limited to this. That is, the vehicle width direction tilt angle detection unit 12 may be configured using, for example, a three-dimensional acceleration sensor. The same applies to the configuration of the front-rear direction tilt angle detection unit 13.

[0074] (5) In this embodiment, the work vehicle is a crane-equipped vehicle 100, but it is not limited to this, and for example, the work vehicle may be an aerial work platform equipped with a pair of outriggers. [Explanation of Symbols]

[0075] 1…Automatic outrigger placement device, 11…Ground contact detection unit, 12…Vehicle width direction tilt angle detection unit, 13…Front / rear direction tilt angle detection unit, 14…Automatic placement control unit, 15…Extension speed control unit, 20…Accelerator controller, 30…Outrigger cylinder, 40…Engine, 50…PTO, 60…Pump, 70…Outrigger valve, 80…Outrigger, 81…Lateral outrigger box, 82…Longer outrigger box, 83…Outer box, 84…Inner box, 85…Float, 91…Base, 92…Column, 93…Boom, 94…Hook, 100…Crane-equipped vehicle, 101…Vehicle body, 102…Cargo bed, 103…Driver's cab, 104…Chassis frame, 105…Crane, 106…Wire rope, FW…Front wheels, RW…Rear wheels< / url:>

Claims

1. An automatic outrigger setting device, mounted on a work vehicle having front and rear wheels, which automatically sets a pair of outriggers that can extend and retract vertically from both the left and right sides of the work vehicle so that the work vehicle is at a predetermined inclination angle, A ground detection unit for detecting the grounding of each of the pair of outriggers, A front-to-rear tilt angle detection unit for detecting the front-to-rear tilt angle of the work vehicle, An automatic installation control unit that controls the automatic extension and installation of the pair of outriggers so that the work vehicle reaches the predetermined tilt angle according to the tilt angle detected by the front-rear tilt angle detection unit, The system includes an extension speed control unit that controls the speed at which each of the pair of outriggers extends, The extension speed control unit reduces the extension speed of the outriggers when the ground contact detection unit detects that the outriggers are grounded while the automatic installation control unit is automatically extending the pair of outriggers.

2. The work vehicle comprises an outrigger cylinder for extending and retracting the outrigger, an accelerator controller that controls the amount of pressurized oil supplied to the outrigger cylinder by changing the accelerator opening, thereby changing the speed at which the outrigger cylinder extends and retracts, and an outrigger valve for opening and closing the supply path of pressurized oil to the outrigger cylinder. The automatic outrigger installation device according to claim 1, wherein the extension speed control unit controls the opening degree of the accelerator controller and the opening and closing of the outrigger valve to control the speed at which the pair of outriggers extend.

3. The automatic outrigger installation device according to claim 1, wherein the automatic installation control unit controls the pair of outriggers to automatically extend and install them in response to an automatic installation request for the pair of outriggers to be automatically installed, and when the ground detection unit detects that the pair of outriggers are grounded and the automatic installation request is received, the automatic control of the pair of outriggers is prohibited.

4. The vehicle further comprises a vehicle width direction inclination angle detection unit for detecting the inclination angle in the vehicle width direction of the aforementioned work vehicle, The automatic outrigger installation device according to claim 1, wherein the automatic installation control unit controls the automatic extension and installation of the pair of outriggers so that the work vehicle reaches the predetermined tilt angle according to the tilt angle detected by the front-rear tilt angle detection unit and the vehicle width tilt angle detection unit.

5. The automatic outrigger installation device according to claim 1, wherein the front-rear inclination angle among the predetermined inclination angles is an angle set based on the state in which the work vehicle is horizontal with respect to the ground surface of the outrigger.

6. The outrigger automatic installation device according to claim 1, wherein the inclination angle in the vehicle width direction of the work vehicle among the predetermined inclination angles is an angle set based on the state in which the work vehicle is horizontal with respect to the vertical direction.

7. A work vehicle equipped with an automatic outrigger setting device as described in any one of claims 1 to 6.

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