Outrigger device and transport method

Abstract

The objective is to provide an outrigger device and transportation method that can enhance the safety of transporting vehicles while they are in motion. [Solution] The outrigger device comprises an arm 5 extending outward in the vehicle width direction, a post 6 extending below the arm 5, a caster 7 provided at the lower end of the post 6, an actuator for moving the caster 7 vertically, a distance measuring device 300 fixed at a position correlated with the position of the caster 7 and outputting a distance signal Sd corresponding to the distance to the ground 301, and a control device that controls the actuator so that the caster 7 moves away from the ground 301 in accordance with the distance signal Sd when the vehicle is in motion.

Description

Technical Field

[0001] The present invention relates to an outrigger device and a transportation method.

Background Art

[0002] An outrigger device generally ensures the stability of a trailer when loading or unloading a container on or from the trailer's gantry. The outrigger device described in Patent Document 1 includes casters and can also ensure the stability of a moving vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when transporting precision equipment such as artificial satellites, it is expected to further enhance the safety of transportation. Therefore, an object of the present invention is to provide an outrigger device and a transportation method capable of enhancing the safety of transporting a moving vehicle.

Means for Solving the Problems

[0005] The outrigger device of the present invention is an outrigger device comprising: [1] an arm extending outward in the vehicle width direction of the vehicle, a post extending below the arm, a caster provided at the lower end of the post, a drive mechanism for vertically moving the caster, a distance measuring device fixed at a position correlated with the position of the caster and outputting a distance signal corresponding to the distance to the ground, and a control device for controlling the drive mechanism so that the caster moves away from the ground according to the distance signal when the vehicle is running. It extends and retracts via hydraulic control. a post extending below the arm, a caster provided at the lower end of the post, By extending the aforementioned post a drive mechanism for vertically moving the caster, a distance measuring device fixed at a position correlated with the position of the caster and outputting a distance signal corresponding to the distance to the ground, and a control device for controlling the drive mechanism so that the caster moves away from the ground according to the distance signal when the vehicle is running.

[0006] The outrigger device of the present invention is [2] "the outrigger device of the present invention, wherein the distance measuring device comprises a laser element, a photodetector that receives reflected light of laser light emitted from the laser element, a container that houses the laser element and the photodetector, a support member that supports the container and extends from the container, and a magnet fixed to the tip of the support member and capable of being attracted to the post, as described in [1]."

[0007] The outrigger device of the present invention is [3] "the outrigger device according to [1], comprising an operation controller connected to the control device, the operation controller comprising a control mode changeover switch and a manual operation switch for the drive mechanism, the control mode comprising an automatic control mode that controls the drive mechanism so that the caster leaves the ground in accordance with the distance signal, and a manual control mode that controls the drive mechanism in accordance with the ON / OFF of the manual operation switch."

[0008] The outrigger device of the present invention is [4] "the outrigger device according to [1], further comprising a light-emitting display device provided on the post, wherein the light-emitting display device displays vertical movement information of the caster."

[0009] The transport method of the present invention comprises [5] an arm extending outward in the width direction of a vehicle carrying a load, and an arm extending downward from the arm. It extends and retracts via hydraulic control. Using the vehicle equipped with an outrigger device having a post and a caster provided at the lower end of the post, By extending the aforementioned post This is a transportation method in which the vehicle is driven while the casters are lifted off the ground, while controlling the distance between the casters and the ground. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide an outrigger device and a transport method that can ensure the stability of transport. [Brief explanation of the drawing]

[0011] [Figure 1] This is a side view of a trailer fitted with an outrigger device according to one embodiment. [Figure 2] Figure 1 is a front view of the outrigger device. [Figure 3] Figure 2 is an exploded front view of a portion of the outrigger device shown. [Figure 4] Figure 2 is a side view of a portion of the outrigger device shown. [Figure 5] Figure 2 is a side view of a portion of the outrigger device shown. [Figure 6] This is a side view of a portion of an outrigger device equipped with a rangefinder. [Figure 7] This diagram shows the system configuration of the outrigger device. [Figure 8] This is a perspective view of the control controller for the outrigger device. [Figure 9] This is a side view of the outrigger device post. [Figure 10] This is a front view of the improved outrigger device. [Modes for carrying out the invention]

[0012] Embodiments of the present invention will be described in detail below with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are omitted.

[0013] As shown in Figure 1, the trailer 100 (vehicle) is connected to the tractor 200. Two sets of outrigger devices 1 are attached to the trailer 100. Hereinafter, the width direction of the tractor 200 and trailer 100 will be referred to as the "width direction WD", and the longitudinal direction of the tractor 200 and trailer 100 will be referred to as the "longitudinal direction LD". The vertical direction will be referred to as the "vertical direction VD", and the horizontal direction as the "horizontal direction HD". Note that if the road on which the tractor 200 and trailer 100 travel is flat, the width direction WD and longitudinal direction LD are included in the horizontal direction HD.

[0014] The trailer 100 includes a rear wheel house 110 and a gantry 120. The gantry 120 is composed of a floor portion 121, a front connecting portion 122, a front side wall portion 123, a rear connecting portion 124, and a rear side wall portion 125. The floor portion 121 is the part where the container is placed. The front connecting portion 122 is connected to a tractor 200 via a turntable (not shown). The rear connecting portion 124 is connected to the rear wheel house 110 via a turntable (not shown). The front end portion of the floor portion 121 is connected to the lower end portion of the front side wall portion 123, and the rear end portion of the front connecting portion 122 is connected to the upper end portion of the front side wall portion 123. The rear end portion of the floor portion 121 is connected to the lower end portion of the rear side wall portion 125, and the front end portion of the rear connecting portion 124 is connected to the upper end portion of the rear side wall portion 125.

[0015] The outrigger devices 1 are attached to the front side wall portion 123 and the rear side wall portion 125, respectively. Each outrigger device 1 includes a pair of outrigger units 2 and a generator 3. In the present embodiment, the generator 3 of the front outrigger device 1 is installed on the floor portion 121, and the generator 3 of the rear outrigger device 1 is installed on the rear connecting portion 124. However, the installation position of each generator 3 is not particularly limited as long as it is a position on the trailer 100. Since the configuration of the pair of outrigger units 2 of the rear outrigger device 1 is the same as the configuration of the pair of outrigger units 2 of the front outrigger device 1, hereinafter, the configuration of the pair of outrigger units 2 of the front outrigger device 1 will be described, and the description of the configuration of the pair of outrigger units 2 of the rear outrigger device 1 will be omitted.

[0016] As shown in FIG. 2, in the front outrigger device 1, each of the pair of outrigger units 2 has a bracket 4, an arm 5, a post 6, and a caster 7. Since the pair of outrigger units 2 has a bilaterally symmetric configuration in the vehicle width direction WD, hereinafter, the configuration of the right outrigger unit 2 will be described, and the description of the configuration of the left outrigger unit 2 will be omitted.

[0017] Bracket 4 is fixed to the front side wall portion 123. Bracket 4 is, for example, a cylindrical body with a rectangular cross-section having a center line parallel to the vehicle width direction WD. Arm 5 extends outward in the vehicle width direction WD from the trailer 100 by positioning a portion of arm 5 inside bracket 4. Arm 5 is, for example, a cylindrical body with a rectangular cross-section having a center line parallel to the vehicle width direction WD. Multiple through holes are formed at the same pitch along the vehicle width direction WD in bracket 4 and arm 5. The length of arm 5 protruding outward from bracket 4 is adjusted by moving arm 5 in the vehicle width direction WD relative to bracket 4 and inserting pin 51 into the through holes of bracket 4 and arm 5 that coincide with each other. A stopper 52 is provided at the base end 5a of the inner arm 5 in the vehicle width direction WD to prevent arm 5 from falling off bracket 4.

[0018] Post 6 is fixed to the tip 5b of the outer arm 5 in the vehicle width direction WD. In this embodiment, post 6 extends upward and downward from arm 5, but it is sufficient that it extends at least downward from arm 5. Post 6 is composed of a cylinder 61 and a rod 62 of actuator 60. The actuator 60 in this example is a hydraulic actuator. The tip 5b of arm 5 is fixed to the middle part of cylinder 61. Cylinder 61 is, for example, a cylindrical body with a rectangular cross-section having a center line parallel to the vertical direction VD. A hydraulic pump (not shown) that operates with power supplied from generator 3 is connected to cylinder 61. In other words, power for driving is supplied to actuator 60 from generator 3. Rod 62 extends downward from the inside of cylinder 61. Rod 62 is, for example, a cylindrical body with a rectangular cross-section having a center line parallel to the vertical direction VD. The cylinder 61 is provided with a handle 61a for moving arm 5 in the vehicle width direction WD relative to bracket 4.

[0019] The caster 7 is attached to the lower end 63 of the post 6, which is the lower end of the rod 62. As shown in Figures 3 and 4, the caster 7 includes a coupling 8, a swivel 9, and a wheel 11. The coupling 8 is connected to the lower end 63 of the post 6. The swivel 9 is attached to the coupling 8 so as to be able to swivel around the first axis A1 as its centerline. The first axis A1 is a straight line along the vertical direction VD. The wheel 11 is attached to the swivel 9 so as to be able to rotate around the second axis A2 as its centerline. The second axis A2 is a straight line along the horizontal direction HD and is at a twist relative to the first axis A1. In other words, the second axis A2 along the horizontal direction HD does not intersect with the first axis A1 along the vertical direction VD.

[0020] The connecting portion 8 is composed of a main body portion 81, a pair of plates 82, and a pair of elastic members 83. The pair of plates 82 are fixed to the upper surface of the main body portion 81. The pair of plates 82 are aligned in the vehicle width direction WD, with the thickness direction of each plate 82 coinciding with the vehicle width direction WD. The pair of plates 82 are positioned inside the rod 62 at the lower end portion 63 of the post 6. In this state, pins 84 extending in the vehicle width direction WD are positioned in through holes 82a formed in the pair of plates 82 and through holes 63a formed in the lower end portion of the rod 62. The pair of elastic members 83 are fixed to the upper surface of the main body portion 81 so as to be located on the front and rear sides of the pair of plates 82.

[0021] As the connecting section 8 is configured as described above, the first axis A1 of the swivel section 9 can tilt in the longitudinal direction LD with respect to the vertical direction VD within a predetermined angular range. In other words, the first axis A1 of the swivel section 9 can swing within a predetermined angular range with respect to the pin 84 extending in the vehicle width direction WD as its centerline. The predetermined angular range is preferably -10° to +10° with respect to the vertical direction VD, and more preferably -5° to +5° with respect to the vertical direction VD. As an example, the predetermined angular range is -4.5° to +4.5° with respect to the vertical direction VD. When the first axis A1 of the swivel section 9 is tilted with respect to the vertical direction VD such that the lower side is positioned further forward, the front elastic member 83 prevents contact between the lower end 63 of the post 6 and the main body 81 of the connecting section 8. When the first axis A1 of the swivel section 9 is tilted with respect to the vertical direction VD such that the lower side is positioned further rear, the rear elastic member 83 prevents contact between the lower end 63 of the post 6 and the main body 81 of the connecting section 8.

[0022] The swivel section 9 is composed of a main body 91 and a pair of plates 92. The main body 91 is connected to the main body 81 of the connecting section 8 via bearings (not shown) so that it can swivel around the first axis A1 as its centerline. The pair of plates 92 are fixed to the lower surface of the main body 91. The pair of plates 92 are arranged in a direction parallel to the second axis A2, with the thickness direction of each plate 92 coinciding with the direction parallel to the second axis A2. The wheels 11 are positioned between the pair of plates 92 and are attached to the pair of plates 92 via bearings (not shown) so that they can rotate around the second axis A2 as their centerline.

[0023] As explained above, in the outrigger device 1, a caster 7 is attached to the lower end 63 of the post 6 on each of the pair of outrigger units 2. This allows the trailer 100 to which the outrigger device 1 is attached to be driven with each of the casters 7 of the pair of outrigger units 2 on the ground. Therefore, the stability of the moving trailer 100 can be ensured by the outrigger device 1.

[0024] Furthermore, in the outrigger device 1, the connecting portion 8 is connected to the lower end portion 63 of the post 6 so that in each of the pair of outrigger units 2, the first axis A1 of the swivel portion 9 can be tilted within a predetermined angular range in the longitudinal direction LD of the trailer 100 with respect to the vertical direction VD. As a result, as shown in Figure 5(a), when the trailer 100 is moving backward, in each of the pair of outrigger units 2, the second axis A2 of the wheel 11 is positioned in front of the first axis A1 of the swivel portion 9, and the first axis A1 of the swivel portion 9 is tilted with respect to the vertical direction VD so that it is positioned further forward as it is lower. Also, as shown in Figure 5(b), when the trailer 100 is moving forward, in each of the pair of outrigger units 2, the second axis A2 of the wheel 11 is positioned behind the first axis A1 of the swivel portion 9, and the first axis A1 of the swivel portion 9 is tilted with respect to the vertical direction VD so that it is positioned further rearward as it is lower. Therefore, the outrigger device 1 can further improve the stability of the moving trailer 100.

[0025] Furthermore, in the outrigger device 1, a post 6 is formed by the cylinder 61 and rod 62 of the actuator 60 in each of the pair of outrigger units 2. This allows the casters 7 of each of the pair of outrigger units 2 to be reliably brought to the ground by extending or retracting the post 6 in each of the pair of outrigger units 2, even when the tractor 200 and trailer 100 are traveling on an incline while turning to the right or left.

[0026] Furthermore, in the outrigger device 1, the actuator 60 is supplied with power for driving by the generator 3. This allows the actuator 60 to be supplied with power for driving regardless of the installation position of the pair of outrigger units 2.

[0027] The outrigger device 1 described above is equipped with casters 7, which can ensure the stability of the vehicle while it is in motion. However, when transporting precision equipment such as artificial satellites, it is expected to further enhance the safety of the transport.

[0028] As shown in Figure 6, the outrigger device 1 (outrigger unit) of this disclosure can be controlled to slightly lift the caster 7 off the ground 301 while the vehicle is in motion. Containers containing precision equipment such as artificial satellites are loaded onto the trailer's platform. When the caster 7 is lifted off the ground 301, the force from the ground 301 via the caster 7 is no longer transmitted to the load, thus reducing vibrations and shocks to the load. Furthermore, if the vehicle is tilted, the caster 7 can contact the ground 301 to prevent the vehicle from tipping over. In addition, during a series of transport operations, if the caster 7 is lifted off the ground 301 and then brought back into contact with the ground 301, the vertical (vertical direction VD) travel distance of the caster 7 is reduced, thus shortening the work time.

[0029] The outrigger device 1 is equipped with a distance measuring device 300. The distance measuring device 300 measures a first distance ds from the distance measuring device 300 to the ground 301 and outputs a distance signal Sd. By controlling the drive mechanism that moves the caster 7 so that the first distance ds indicated by the distance signal Sd remains constant, the second distance dc between the caster 7 and the ground 301 can be kept constant.

[0030] The distance measuring device 300 includes a laser element 300a, a photodetector 300b that receives reflected light L2 of the emitted laser light L1 from the laser element 300a, and a container 300c that houses the laser element 300a and the photodetector 300b. The distance measuring device 300 includes a support member 300d that supports the container 300c and extends from the container 300c, and a magnet 300e that is fixed to the tip of the support member 300d and can be attracted to the post 6.

[0031] The emitted light L1 may be parallel light, or it may be diffused light that spreads out due to a lens or the like. In other words, the emitted light L1 may have not only a component perpendicular to the ground, but also a component inclined from the vertical. In this case, the emitted light L1 may be considered as a bundle of multiple laser beams that spread out in a cone shape as a whole, and these laser beams may be contained in a single horizontal cross section at the same time, or they may be contained in a time series at different times. In such a case, the emitted light L1 can, for example, form a circular pattern with a diameter of 15 cm on the ground. If the emitted light L1 has a pattern that irradiates a wide area, such as a circular pattern, on the ground, the reflected light L2 will be the reflected light from that pattern. In this case, the reflected light from the uneven ground can be detected by the photodetector 300b, and the reflected light output can be averaged to improve the distance measurement accuracy.

[0032] The distance measuring device 300 is fixed to the lower end portion 63 of the post 6 of the outrigger device 1. In this example, the distance measuring device 300 is detachable, and its position is fixed relative to the lower end portion 63 of the post 6 by attracting a magnet 300e to the lower end portion 63. The lower end portion 63 of the post 6 is made of a metal such as iron to which the magnet 300e can be attracted.

[0033] The distance measuring device 300 may be fixed to the post 6 with bolts or the like, but in the case of a detachable distance measuring device 300, the mounting position can be changed depending on the operating environment of the outrigger device 1.

[0034] When moving the vehicle forward, the ground level in front of the vehicle becomes the ground level directly beneath the caster in the future. Therefore, in order to predict and control the caster position, a magnet 300e is attached to the front (front of the vehicle) side of the lower end 63 of post 6.

[0035] When the vehicle is reversed, the height of the ground on the rear side of the vehicle becomes the ground position directly beneath the caster in the future. Therefore, in order to predict and control the caster position, a magnet 300e is attached to the rear (rear of the vehicle) side of the lower end 63 of post 6.

[0036] Although the exterior of the vehicle may be exposed to wind and rain, if the rangefinder 300 is removed from the post 6 and placed in a sealed space such as a storage container, deterioration of the rangefinder 300 can be suppressed, and measurements can be taken with stable accuracy. In addition, the lifespan of the rangefinder 300 can be extended.

[0037] Markers indicating the position for attracting the magnet 300e are provided on the front and rear sides of the lower end portion 63 of the post 6, respectively, so that the fixed position of the magnet 300e does not change each time it is used. This enables even more precise distance measurement.

[0038] The support member 300d of the distance measuring device 300 is rod-shaped, and the longitudinal dimension of the support member 300d can be set to be longer than the diameter of the caster 7. The longitudinal dimension of the support member 300d is typically between 20 cm and 50 cm, and in this example, it is 30 cm. The support member 300d allows the laser element 300a and photodetector 300b of the distance measuring device 300 to be separated from the post 6 and the caster 7. This structure suppresses interference from components such as the caster 7 with the laser light emitted from the distance measuring device 300. The vehicle may tilt in the front-rear direction, and it is also necessary to indirectly measure the position of the caster 7. Therefore, in order to suppress contact between the distance measuring device 300 and the ground 301, and to enable accurate measurement of the caster position, the exemplary longitudinal dimension of the support member 300d is set to be less than or equal to the above upper limit.

[0039] As shown in Figure 7, the distance signal Sd output from the distance measuring device 300 is input to the control device 400. In detail, it is as follows: The control device 400 controls the laser driver 300f that drives the laser element 300a. The laser light output from the laser element 300a travels towards the ground 301 as emitted light L1 through the lens 300h. The reflected light L2 reflected from the ground 301 is incident on the photodetector 300b through the lens 300i. The control device 400 drives a signal processing circuit 300g that processes the detection signal from the photodetector 300b and receives the distance signal Sd or a drive mechanism control signal CSd corresponding to the distance signal output from the signal processing circuit 300g. A general-purpose central processing unit (CPU) can also be used as the signal processing circuit 300g.

[0040] When the distance measuring device 300 outputs a distance signal Sd, the control signal generation circuit inside the control device 400 generates a drive mechanism control signal CSd based on the distance signal Sd. This control signal generation circuit inside the control device 400 can be incorporated inside the distance measuring device 300. In this case, the signal processing circuit 300g of the distance measuring device 300 includes a control signal generation circuit that generates the drive mechanism control signal CSd, and the control signal generation circuit generates the drive mechanism control signal CSd based on the distance signal Sd generated by the distance signal generation circuit inside the signal processing circuit 300g.

[0041] In the outrigger system, the control device controls the drive mechanism so that the casters lift off the ground in accordance with the distance signal Sd output from the rangefinder while the vehicle is in motion.

[0042] The first type of control device is one in which the control device 400 includes a control signal generation circuit internally. In this case, the distance measuring device 300 only needs to have the function of outputting a distance signal Sd, and the structure of the distance measuring device 300 can be simplified. The control signal generation circuit receives the distance signal Sd and generates a drive mechanism control signal CSd.

[0043] The second type of control device is one in which the control device 400 does not include a control signal generation circuit for the drive mechanism control signal CSd, and instead the distance measuring device 300 includes the control signal generation circuit. Within the distance measuring device 300, the distance signal Sd and the drive mechanism control signal CSd are generated. The distance measuring device includes at least a laser element 300a and a photodetector 300b. Since the output of the photodetector 300b contains distance information, if the laser light emission information is known, the output of the photodetector 300b can also be called the distance signal Sd. In this case, the control device that controls the drive mechanism in response to the distance signal Sd output from the distance measuring device including the photodetector 300b includes the control signal generation circuit in the distance measuring device 300 and the control device 400.

[0044] According to the second type of control device, the control signal generation circuit is incorporated inside the distance measuring device 300, thus simplifying the structure of the control device 400. It can also be considered that a part of the distance measuring device 300 and the control device 400 work together to constitute a single control device. In this case, the specifications of the drive mechanism control signal CSd can be matched with the specifications of the drive mechanism control signal CSd input from the operation controller 500 to the control device 400.

[0045] The distance measuring device 300 can use a phase difference detection method, a TOF (Time of Flight) method, or a triangulation method.

[0046] In the phase difference detection method, the laser driver 300f is controlled so that the laser element 300a emits pulsed laser light or sinusoidal laser light, and the photodetector 300b detects the intensity of the reflected light. The signal processing circuit 300g outputs the phase difference between the emitted light and the reflected light as a distance signal Sd.

[0047] In the TOF method, the laser driver 300f is controlled so that the laser element 300a emits pulsed laser light with a narrow pulse width, and the photodetector 300b detects the intensity of the reflected light. The signal processing circuit 300g outputs the time from when the emitted light is emitted until the reflected light returns to the photodetector 300b as a distance signal Sd.

[0048] In the case of the triangulation method, the laser driver 300f is controlled so that the laser element 300a emits continuous light or pulsed laser light, and a position detection element or an image sensor capable of measuring the light incident position is used as the photodetector 300b. The signal processing circuit 300g outputs the light incident position output from the photodetector 300b as a distance signal Sd.

[0049] As described above, the post includes a rod extending from within the cylinder, and the position of the rod can be hydraulically controlled to expand and contract. By the actuator 60, when the post extends, the caster 7 descends, and when the post contracts, the caster 7 ascends. The expansion and contraction speed of the post can be switched. The outrigger device of this example includes a lever (switch) for switching the hydraulic pressure of the actuator, and can switch between a high-speed expansion and contraction operation and a low-speed expansion and contraction operation. This lever can be provided on the post.

[0050] The control device 400 that receives the distance signal Sd obtains the second distance dc between the caster 7 and the ground 301. Since the mounting position of the distance measuring device 300 and the position of the caster 7 are determined, the control device 400 can convert the distance signal Sd into data of the second distance dc between the caster 7 and the ground 301. In the automatic control mode of the vertical position of the caster 7, the actuator 60 as a drive mechanism is controlled so that the second distance dc (0 < dc) becomes constant.

[0051] That is, when the obtained second distance dc is smaller than the first set value TH1, the caster 7 is raised, and when it is greater than or equal to the second set value TH2, the caster 7 is lowered. The first set value TH1 and the second set value TH2 may be the same (TH1 = TH2), but the second set value TH2 may be larger than the first set value TH1 (TH1 ≤ TH2). These set values can be set to, for example, 100 mm. In this case, the caster 7 is held at a position 100 mm from the ground.

[0052] Furthermore, the control device 400 is connected to an emergency stop button, and by turning on the emergency stop button, the actuator 60 can be stopped immediately.

[0053] The power supply device 600 supplies power to the control device 400 and the actuator 60. The distance measuring device 300 can be supplied with power from either the power supply device 600 or the control device 400. The power supply device 600 can convert power from a generator and supply it to each device, but may also be supplied with power from the vehicle's battery if necessary.

[0054] The operation controller 500 is a device that instructs the control device 400 to perform control, and can communicate with the control device 400 by wire or wireless connection. By operating the operation controller 500, the control device 400 can control the caster position in automatic control mode or manual control mode. If a vehicle is equipped with casters 7 of the outrigger device at four locations on the trailer frame (front right, front left, rear right, and rear left), four operation controllers 500 can be used.

[0055] As shown in Figure 8, one operation controller 500 has multiple buttons. The figure shows an operation controller 500 (remote control) for moving the casters up and down, located at the "front right" position of the frame.

[0056] Pressing the power button 501 turns on the power to the operation controller 500, and pressing it again turns off the power to the operation controller 500. When the power is turned on, the lamp 502, which consists of a light-emitting diode, lights up. The initial control mode is manual control mode. After that, pressing the control mode switching button 503 (switch) switches the control device to automatic control mode for caster vertical movement. In automatic control mode, as described above, the caster is slightly lifted off the ground according to the distance signal Sd from the distance measuring device. The vehicle travels in this state. In automatic control mode, the control device controls the actuator so that the caster position (second distance dc) obtained from the distance signal Sd remains constant. In automatic control mode, the operation of the manual control buttons (504, 505, 506, 507) (manual operation switches) is disabled.

[0057] Pressing the control mode switching button 503 again switches the control unit to manual control mode. In manual control mode, the manual control buttons (504, 505, 506, 507) become active.

[0058] In manual control mode, pressing each button results in the following functions: First, pressing the retraction button 504 activates the hydraulic cylinder shown in Figure 10, retracting the structural components of the outrigger device, including the arms, inward (inward lateral direction). Pressing the extension button 505 similarly activates the hydraulic cylinder, extending the structural components of the outrigger device, including the arms, outward (outward lateral direction). Retraction and extension of these structural components are performed by driving actuators.

[0059] Pressing the lower button 506 moves the lower end of the outrigger device post downwards, lowering the caster. Pressing the upper button 507 moves the lower end of the outrigger device post upwards, raising the caster. Next to each button, a function display unit (mode switching display unit 513, storage function display unit 514, extension function display unit 515, lowering function display unit 516, raising function display unit 517) is positioned to display the function of each button in order to improve the reliability of operation.

[0060] To enhance the safety of workers selecting the correct position of the operation controller 500, the surface of the operation controller 500 is provided with a position indicator 508 that displays the position of the corresponding outrigger unit (caster) (e.g., front right). To enhance the safety of workers accurately determining the button function, the surface of the operation controller 500 is provided with a first display area 509 that indicates the lateral movement function of the button (inward lateral storage indicated by "in," outward lateral extension indicated by "out"). If necessary, visibility may be improved by adding decorations such as circling the word "in." The surface of the operation controller 500 is provided with a second display area 510 that indicates the vertical movement function of the button (up indicated by caster upward movement, caster downward movement indicated by "down." The position indicator section 508, each display area (509, 510), and each function indicator section (513, 514, 515, 516) may be formed by processing the surface of the operation controller 500, or by attaching a sticker to the surface and then writing on the sticker with a writing instrument, thereby forming a label.

[0061] In addition to automatic control via laser rangefinder, the vertical movement of the casters 7 in the outrigger system can also be operated by a worker attached to each outrigger system, holding an operation controller. Depending on the conditions of the transport surface, the worker can manually fine-tune the caster position. Each worker can monitor the four outrigger systems (outrigger units) while moving the vehicle and trolley.

[0062] Pressing each button raises or lowers the caster position, but improvements are needed to further enhance safety in low-visibility conditions such as at night. In other words, transport operations with the outriggers deployed may be carried out at night or in extremely low-light environments. The outrigger system in this example has a structure that allows a worker monitoring each outrigger to check the operating status of the outrigger (up / neutral / down).

[0063] As shown in Figure 9, the outrigger device in this example is equipped with a light-emitting display device 700 on the side of the post 6 that displays vertical movement information of the caster. The light-emitting display device 700 comprises a plurality of light-emitting diode units (U3, U2, U1, N, D1, D2). Each light-emitting diode unit comprises, for example, a plurality of light-emitting diodes (e.g., 3) arranged in a vertical alignment.

[0064] Each light-emitting diode unit (U3, U2, U1, N, D1, D2) lights up according to the target value for raising or lowering the caster position. For example, when the vehicle is moving forward, if the ground level directly below the rangefinder positioned in front of the caster is higher, the distance signal Sd indicates a decrease in the first distance ds, so the caster position is raised to maintain the caster position at a constant distance from the ground. If the target value for raising the caster is small, the first raising light-emitting diode unit U1 lights up. If the target value for raising the caster is medium, the second raising light-emitting diode unit U2 lights up. If the target value for raising the caster is large, the third raising light-emitting diode unit U3 lights up. After the caster has been raised, if vertical movement of the caster is no longer necessary, the neutral light-emitting diode unit N lights up. Similarly, if the target value for lowering the caster is small, the first lowering light-emitting diode unit D1 lights up. If the target value for lowering the caster is medium, the second lowering light-emitting diode unit D2 lights up.

[0065] During transportation operations, multiple workers (e.g., 4 people) are positioned near each outrigger device (outrigger unit) to monitor it. As described above, the illuminated display device 700 displays information about the caster's movement in advance, so workers can confirm the operation of the outrigger device day or night, using the display on the illuminated display device 700 as a supplement. Therefore, transportation safety can be improved. Furthermore, since the illuminated display device 700 displays caster movement information by lighting up, workers can confirm this even in environments with poor visibility, thus enhancing safety. The illuminated display device 700 may not indicate the future position of the caster, but rather the current operation, such as whether the caster is rising or descending.

[0066] The outrigger device described above comprises a pair of outrigger units, each outrigger unit having an arm extending outward from the vehicle in the vehicle width direction, a post extending downward from the arm, and a caster attached to the lower end of the post. Furthermore, the outrigger device includes a distance measuring device (sensor) that detects the distance of the caster from the ground, and a control device that automatically moves the lower end of the post up and down based on the detection result of the distance measuring device.

[0067] Figure 10 is a front view of the improved outrigger device.

[0068] The outrigger device comprises an arm 5 fixed to the outer wall of a cylinder 61 that constitutes a vertical movement mechanism, and a sliding mechanism attached to the arm 5. The sliding mechanism consists of an extendable hydraulic cylinder. The hydraulic cylinder comprises a cylinder C1 including a cylinder tube, a rod C2 inserted into the cylinder C1, and a fixing jig C3 to which the tip of the rod C2 is attached.

[0069] The fixing jig C3 is fixed to the outer wall of the vertical cylinder 61. One end of the cylinder C1, which extends in the vehicle width direction WD, is rotatably supported by the slide cylinder mounting member C0. The tip of the rod C2 is connected to the fixing jig C3. A rotating shaft C4, which extends in the vehicle longitudinal direction, is inserted into one end of the cylinder C1, and the rotating shaft C4 is fixed to the slide cylinder mounting member C0. A rotating shaft C5, which extends in the vehicle longitudinal direction, is inserted into one end of the fixing jig C3 and the tip of the rod C2. The slide cylinder mounting member C0 is fixed to the front side wall 123 of the frame or to the vehicle body frame F1. The pair of vehicle body frames F1 extend vertically and are fixed to the front side wall 123.

[0070] In this example, the pin 51 extends in the longitudinal direction of the vehicle, and the pin 51 is inserted into through holes in the bracket 4 and arm 5, which are aligned with each other, thereby fixing the length of the arm 5. The arm 5 has a through hole into which the pin 51 is inserted when the arm 5 is extended, and a through hole 51H into which the pin 51 is inserted when the arm 5 is retracted.

[0071] When the retraction button 504 of the operation controller 500 shown in Figure 8 is pressed, the hydraulic cylinder of the sliding mechanism operates, shortening the exposed portion of the horizontally extending rod C2 and moving the vertical cylinder 61 inward towards the vehicle. When the extension button 505 is pressed, the hydraulic cylinder operates, lengthening the exposed portion of the horizontally extending rod C2 and moving the vertical cylinder 61 outward towards the vehicle. A pipe supplying hydraulic pressure is connected to cylinder C1, and the hydraulic pressure is controlled by the control device. The configuration of the outrigger device on the rear wall portion 125 is the same as on the front side.

[0072] As described above, the outrigger device according to the first embodiment includes an arm 5 extending outward in the vehicle width direction, a post 6 extending below the arm 5, a caster 7 provided at the lower end of the post 6, a drive mechanism (actuator 60) for moving the caster 7 vertically, a distance measuring device 300 fixed at a position correlated with the position of the caster 7 (second distance dc) and outputting a distance signal Sd corresponding to the distance to the ground (first distance ds), and a control device 400 that controls the drive mechanism so that the caster 7 is lifted away from the ground 301 in accordance with the distance signal Sd when the vehicle is in motion. With the outrigger device, since the caster 7 is lifted off the ground, vibrations and shocks from the ground are reduced, the safety of the cargo loaded on the vehicle while it is in motion is increased, and the safety of transportation is improved.

[0073] The outrigger device of the second embodiment comprises a distance measuring device comprising a laser element 300a, a photodetector 300b that receives reflected light from the laser beam emitted from the laser element 300a, a container 300c that houses the laser element 300a and the photodetector 300b, a support member 300d that supports the container 300c and extends from the container 300c, and a magnet 300e fixed to the tip of the support member 300d and capable of being attracted to the post 6. By providing the support member 300d, the container position of the distance measuring device can be moved away from the caster 7, thereby improving the distance measuring accuracy. Furthermore, since the distance measuring device can be attached and detached using the magnet 300e, the distance measuring device 300 can be mounted in a position where predictive control of the caster position is possible. Because precise control is possible, the safety of transportation can be improved.

[0074] The outrigger device of the third embodiment includes an operation controller 500 connected to the control device 400, the operation controller 500 includes a control mode changeover switch (control mode changeover button 503) and manual operation switches for the drive mechanism (buttons 504, 505, 506, 507), the control modes include an automatic control mode in which the drive mechanism is controlled so that the caster 7 leaves the ground in accordance with the distance signal Sd, and a manual control mode in which the drive mechanism is controlled in accordance with the ON / OFF status of the manual operation switches (buttons 504, 505, 506, 507) (ON when the button is pressed, OFF when not pressed). By using the operation controller 500, the operability of the outrigger device can be improved.

[0075] The outrigger device of the fourth embodiment further includes a light-emitting display device 700 provided on the post 6, which displays vertical movement information of the caster 7. The light-emitting display device 700 can inform the operator of the vertical movement information of the caster 7, thereby improving transportation safety. If the vertical movement information is a target value for the caster movement, it is predictive information for the caster movement, thus further improving transportation safety.

[0076] The fifth aspect of the transport method uses a vehicle equipped with an outrigger device having an arm 5 extending outward in the width direction of the vehicle carrying the load, a post 6 extending below the arm 5, and a caster 7 provided at the lower end of the post 6. The vehicle is driven with the caster 7 lifted off the ground while controlling a second distance dc between the caster 7 and the ground 301. Since the transport is performed with the caster 7 lifted off the ground, vibrations and shocks from the ground are reduced, and the safety of the load carried on the moving vehicle can be increased. In other words, the outrigger device can suppress vibrations while preventing the vehicle from tipping over.

[0077] The present invention is not limited to the embodiments described above. For example, in each of the pair of outrigger units 2, the arm 5 may be configured to be attached to the trailer 100 by means other than the bracket 4. Also, in each of the pair of outrigger units 2, the arm 5 does not have to extend parallel to the vehicle width direction WD, as long as it extends outward from the trailer 100 in the vehicle width direction WD.

[0078] Furthermore, in each of the pair of outrigger units 2, the post 6 is not limited to being composed of the cylinder 61 and rod 62 of the actuator 60. A configuration that allows it to be manually extended or retracted may be added. Also, in each of the pair of outrigger units 2, the post 6 does not have to extend parallel to the vertical direction VD, as long as it extends downward from the arm 5.

[0079] Furthermore, the outrigger device 1 does not need to be equipped with a generator 3. Also, the outrigger device 1 may be attached to a vehicle other than the trailer 100. In addition, the number of outrigger devices 1 attached to a vehicle including the trailer 100 only needs to be at least one set. [Explanation of Symbols]

[0080] 1...Outrigger device, 5...Arm, 6...Post, 7...Caster, 100...Trailer (vehicle), 300...Distance measuring device, 300a...Laser element, 300b...Photodetector, 300c...Container, 300d...Support member, 300e...Magnet, 301...Ground, 400...Control device, 500...Operation controller (remote control), 503...Control mode switching button (switch), 700...Light emission display device, L1...Emitted light, L2...Reflected light, Sd...Distance signal, VD...Vertical direction, WD...Vehicle width direction.

Claims

1. An arm extending outward in the vehicle's width direction, A post extending below the aforementioned arm, which extends and retracts by hydraulic control, A caster is provided at the lower end of the aforementioned post, A drive mechanism that extends and retracts the post to move the caster in the vertical direction, A distance measuring device fixed at a position correlated with the position of the caster and outputting a distance signal corresponding to the distance to the ground, A control device that controls the drive mechanism so that the caster leaves the ground in accordance with the distance signal while the vehicle is in motion, An outrigger device equipped with this device.

2. The distance measuring device is A laser element and A photodetector that receives reflected light from the laser beam emitted from the laser element, A container for housing the laser element and the photodetector, A support member that supports the container and extends from the container, A magnet fixed to the tip of the support member and capable of adsorbing onto the post, Equipped with, The outrigger device according to claim 1.

3. The control device is equipped with an operation controller connected to the control device, The aforementioned control controller is A control mode selector switch, The manual operation switch of the aforementioned drive mechanism, Equipped with, The aforementioned control mode is An automatic control mode that controls the drive mechanism so that the caster leaves the ground in accordance with the distance signal, A manual control mode that controls the drive mechanism according to the ON / OFF state of the manual operation switch, Equipped with, The outrigger device according to claim 1.

4. The post further comprises a light-emitting display device, The light-emitting display device displays information about the vertical movement of the caster. The outrigger device according to claim 1.

5. An arm extending outward in the width direction of the vehicle carrying the load, A post extending below the aforementioned arm, which extends and retracts by hydraulic control, A caster is provided at the lower end of the aforementioned post, Using the vehicle equipped with an outrigger device having, The vehicle is driven while the caster is lifted off the ground, by extending and retracting the post to control the distance between the caster and the ground. Transportation method.

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