JPS62111898A - Reversing preventive mechanism of height service car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an overturn prevention mechanism for an aerial work vehicle, and in particular, the present invention relates to an overturn prevention mechanism for an aerial work vehicle, and particularly to an overturn prevention mechanism for an aerial work vehicle that reduces the danger angle of a boom overturning (and automatically adjusts the balance). This invention relates to a mechanism for preventing work vehicles from falling.

[Conventional technology]

This type of aerial work vehicle has a boom that is pivotally supported vertically on a swivel platform that is provided on the vehicle body so as to be able to rotate left and right, and a bucket that is pivoted to the tip of this boom. There is a type of lift (so-called boom-type lift) that allows the worker to be placed on the bucket and swivels, undulates, or expands and contracts toward a telephone pole or wall, allowing work to be carried out at high places without scaffolding. By the way, this kind of aerial work vehicle is
The length of the boom as a whole is, for example, 8 to 15 meters. For this reason, if the boom is extended for a long time, its center of gravity may shift and cause it to tip over.In order to prevent accidents from tipping over, conventional methods use mechanical means to detect the length and angle of the boom, and when the boom reaches a dangerous range, it The boom was controlled so that it could not be extended further or tilted downward.

[Problem that the invention attempts to solve]

According to such conventional high-altitude work, the safe work range is small, so there is a problem that the work fan area is limited.

The present invention has been made in order to solve the above-mentioned problems, and aims to provide a fall prevention mechanism for high-altitude work HI that reduces the dangerous angle of boom fall and enlarges the work range. do.

[Means to solve problems]

Inventive spirit 1 that solved the above problems! , the boom can be raised and lowered freely (IK supported,
In the aerial work vehicle, which has a ballast 1 pivotally attached to the tip of the boom, fixed legs including an axle and a rigger are provided on both the front, rear, left, and right sides of the vehicle body to allow the vehicle body to move in the horizontal direction. Set up a length measuring sensor that can measure its expansion/contraction q/!l11, then set up an angle 1!3-] that can detect the angle of the sheet from the horizontal direction. In addition, it takes in the detection signals from each front sensor, compares them with pre-set dangerous A/N amount data, and when it is determined that it is within the dangerous range, drives and controls the Terra 1 to Rigger to control the vehicle body. The system is equipped with a hydraulic control device that can control the movement of the robot in a direction opposite to the dangerous direction.

[Effect]

First, set the fixed legs in place to secure the vehicle body.

Next, the boom is extended, and at this time detection signals from the length measurement sensor and the angle sensor are taken into the hydraulic control device. The hydraulic control device matches the detection signal with the data of the dangerous range, and controls the outrigger when it reaches that range. Use TIl b to horizontally move the vehicle body in the direction opposite to the dangerous direction. This allows the center of gravity to be moved to the opposite side of the boom to maintain balance and prevent overturning.

〔Example〕

Hereinafter, the present invention will be explained based on illustrated embodiments.

FIG. 1 is a perspective view showing a vehicle for aerial work equipped with an overturn prevention mechanism according to the present invention, and FIG. 2 is a side view of the vehicle for aerial work in FIG. 1.

In these figures, a swivel base 3 is rotatably installed on the body 2 of the aerial work vehicle 1, and a boom 4 is installed on the upper end of the swivel base 3.
is pivoted so that it can be raised and lowered freely, and Hakeno 1~ is attached to the tip of this boom 4.
The seam 4 is constructed in a multi-stage telescopic manner, and its length is made variable by means of a telescopic cylinder (not shown), and a balance cylinder (not shown) is used to keep the baguette 5 always in a horizontal state. Controlled by ze. boom 4
A depression angle cylinder 6 for controlling the elevation angle is disposed between the swivel table 3 and the rotation table 3. The vehicle body 2 is provided with fixed legs 9 on both the left and right sides of the front and back thereof, which are made up of a gear 1, a rigger 7, which are arranged vertically, and a jack 8 provided thereon.

Further, a length measuring sensor 10 is attached to the boom 4 to measure the length of expansion and contraction and output it as an electric signal. Length measurement sensor 10i1J: This is a tape measure type, and its main body 11 is installed at the base of the boom 4, and one end of the length measurement band 12 that goes in and out of the main body 11 is fixed to the tip fixing point I3 of the boom 4. It is constructed so that the length of the measuring band 12 drawn out from the main body 1 is converted into electrical values υ and υ and output. The swivel base 3 is provided with an angle sensor 14 that measures the angle of the boom 4 and outputs it as an electrical signal.

Although not shown, the front or rear outrigger 7 includes:
A length measurement sensor is provided to measure the length of these extensions and contractions.

FIG. 3 shows a hydraulic control system including a fall prevention mechanism.The hydraulic control system 5 takes in signals for operation commands from the operation panel 16, and also includes a length sensor 10, an angle sensor 14, and an outrigger 7. Length measurement sensor 17R117
The signals from the cylinders 6.
20.21.22R222L, 23R, 23L, 24
and a hydraulic motor 25 that drives the swivel table 3, respectively. Hydraulic control device 15
contains a ROM 26 that stores a safety area (the area indicated by the chain lines of x, y-, and Z) as shown in FIG. 4, and calculates the signal from the sensor 10. Refer to the result in ROM26 and enter the safe zfI area (
When it is determined that y exceeds X, , 7),
2.23 is driven and controlled to move the vehicle body 2 in the opposite direction to the direction in which the center of gravity has moved.

FIG. 5 shows the overturn prevention mechanism at the back of the hydraulic control system.

The hydraulic control device 15 includes a hydraulic pressure 111 and a control device 30 that controls the hydraulic pressure 111 and the hydraulic pressure 329.

The control device 30 includes a processing unit (CPU) 31 that executes various calculations and processes, and a read-only memory (CPU) that stores programs that cause the CI (IJ) 31 to execute processes, etc. by predetermined means. ROM) 32, a memory (RAM) 33 for storing various data, etc., and a digital human output circuit F8 (D T 0) 34
, an input circuit (1) 35 that takes in detection signals from various sensors 10.14.17R2I71-, and a digital output circuit (DO) 36 that outputs a signal to control the hydraulic circuit 29 described in -1-. It is composed of a lotus 37. Incidentally, the ROM 26 is connected to the lotus 37.

The hydraulic circuit 29 is connected to a pipe 40 so that pressure oil pressurized by the hydraulic pump 19 can be supplied to the electromagnetic switching valves 41, 42, 43 and 44.
．． A pipe 41''1'46 is provided to guide the oil from 43 and 44 to the oil tank 45, and the output side of the switching valve 41 and the telescopic cylinder 20 are connected by piping 47, 48, and the electromagnetic switching valve 42 Piping between the output side and depression angle cylinder 6 49.50
and connect the output side of the solenoid switching valve 43 to the right outrigger.
Piping 51 connects cylinders 22R and 123R in series.
．． 52, and the output side of the electromagnetic switching valve 44 is connected to the left outrigger cylinders 22L, 23L connected in series via piping 53, 54. 2. Each of the electromagnetic switching valves 41 to 44 is configured to be switched by a switching command from the CPU 31 outputted via the DO 36 of the control device 30, and the hydraulic fluid corresponding to the command is applied to each electromagnetic switching valve. It is possible to output to output sides 41 to 44.

- The operation of the embodiment described above will be explained.

First, the outrigger 7 is extended to a predetermined length.

This is done by operating the operation panel 16 to issue an operation command (step 5100), and receiving this command from the hydraulic control device 1.
5 to outrigger cylinder 22R822L, 23R
Step S101) of supplying hydraulic oil to 123L and extending each outrigger 7, each outrigger 7 is extended to a predetermined length.
As soon as the hydraulic control device 15 detects that the length measuring sensor 7 has been extended based on the detection signal from each length measurement sensor 17R117L, step S], 02) and step S103) are realized. .

Next, extend the jack 8 to raise the vehicle body 2 above the ground. This is achieved by issuing an operation command by operating the operation panel 1G (step S-+O4), and supplying a predetermined amount of hydraulic oil to the jack cylinder 24 by the hydraulic control device 15 that receives this command (step 5105). be done.

In this way, the outrigger 7 is extended to a predetermined length, the jack 8 is extended, and the vehicle body 2 is lifted! 1μ is shown in FIG.

This causes rotation of the swivel base 3, extension and contraction of the boom 4, and
It is possible to control the angle of depression.

Step 5107 is a boom 4 extension/retraction command, step 5
108 is a depression angle control command for the boom 4, and step 5109 is a rotation control command for the swivel base 3.

When a boom 4 extension/retraction command is issued in step 5107, this is taken into the CPU 31 via DI034.
The command is determined and the electromagnetic switching valve 41 is driven and controlled via the DO 36, and hydraulic oil (J) is supplied to the telescopic cylinder 20 to cause the boom 4 to extend or retract (step s110). ).Next, the detection signal (l) from the length measurement sensor 10 and the detection signal (θ) from the angle sensor 14 are read through the input circuit 35 and temporarily stored in the RAM 33 (step 5l11).
The CPU 31 calculates the following equations (1) and (2) using the data l and θ stored in step s112.
).

H-nsinθ −(],) V = n cosθ ・(2+ where H: horizontal length of boom 4, V: boom 4
Vertical length, β; Length of boom 4, θ; Horizontal bending angle of boom 4. Furthermore, in step S113, l'? In the safe area (x, y, 7) of FIG. 4, which is stored in the OM 26 and is -1,
Compare the above dl calculation results and have the CP t-731 determine whether or not it is within the safe 1ifi range (step S1.14).
). If it is determined in step 5114 that it is in the safe area (YES), the process moves to step 5119 and cheers the registered register. It is determined whether there was an abnormality processing loop in the previous time, and if there is no abnormality here, the process moves to step 5115.

In step S115, it is determined whether the boom 4 is to be controlled for length or angle, and if it is to be controlled for the length of the boom 4, the process moves to step 8116, and it is determined whether the desired length has been reached. When it is determined in step 8116 that the desired length has been reached, the operation panel 16 is operated in step S17 to issue a stop F command for boom length control.

Then, the CPU 31 obtained through the DI034 sets the electromagnetic switching valve 41 to the stop upper position through the DO 36 to stop it (step S1], 8). 11"q, and if the desired length is not found in step 811G, the process returns to step 5107.

When an angle control command for the boom 4 is issued in step 5108, this command is taken into the CPLJ31 via the DI034, the command is judged, and the electromagnetic switching valve 42 is driven and controlled via the DO36, and hydraulic oil is supplied to the depression angle cylinder 6. supply 2
and lift the boom 4 (step 5I20). Next, through steps 8111 to 5114, the ROM
When the safe area (X, y, z) shown in FIG.
Move on to 15. Since angle control is determined in step 5115, it is determined in step 5121 whether the desired angle is reached. When it is determined in step 5121 that the desired angle has been reached, the operation panel 16 is operated in step 5122 to issue a command to stop the angle control of the boom 4. Then, the CPU 31, which has obtained this via DI034, controls the electromagnetic switching valve 4.
2 to the stop position via D036, and the angle control of the boom 4 is stopped (step S], 23). Note that if the desired angle is not determined in step 5121, step 810
Return to 8.

On the other hand, in step S114, the safe area (x-y, z) [
If it is determined that the value exceeds 1, the process moves to step 5124, and it is determined whether the F register is set to "left" or "right". In order to stop the movement of
6 to control the electromagnetic switching valves 41, 42 to the stop position. Next, in step 5126, the CPU 31 uses the RAM
The data regarding the direction of the boom 4 stored in 33 is determined, and if it is "right", the process moves to step 5127, and if it is "left", the process moves to step J step 3128. In step 5127, the CPU 31 controls the outrigger cylinder 221. ,．． 2
3 Retract L and outrigger cylinder 22R1
The electromagnetic switching valves 43 and 44 are driven and controlled so as to extend 23R. Further, in step 3128, CPLJ31
After completing steps 5I27 and 28, the solenoid switching valves 43 and 44 are controlled to extend the nozzle cylinders 22L and 23I, and to retract the outrigger cylinders 22R and 23R. Step 5129, where it is determined whether the outrigger 7 has moved a predetermined length, and if it has not moved, step 5126
Returning to step 41, when hyperactivity is detected, the process moves to step 5130.

For example, when steps 5126, 5128, and 5129 are completed, the state will move from the state shown in FIG. 7 to the state shown in FIG. 8 if attention is paid only to the relationship between the vehicle body 2 and the outrigger 7.

In step 5130, movement of the boom 4 that was stopped in step 5125 is permitted, and in step 5137, whether the boom 4 has been moved to the left or right is set in the F register. Then, the detection signal (β, θ) from the sensor 10.14 is stored in the RAM 33 via the input circuit 35 (step S131), and then, based on the data (p, θ) from the RAM 33, the above formula (1) is calculated. Equation (2) is calculated (step S132).

Furthermore, as shown in Fig. 4, the ROM 26 stores a safe area (x, y, z) based on the elevation angle and the amount of expansion and contraction of the boom 4, and the results of the two calculations are compared to this safe area. ζ
(Step S133)・Check whether it is safe or not in step S133.
It is determined in step 34, and if it is safe, the process moves to step 5115.
If it is determined that it is dangerous outside the area, a warning is issued from the operation panel 16 in step 5135, and at the same time, the operation of the boom 4 is stopped (step S136).

In other words, an alarm is generated by sending an alarm signal to the operation panel 1G via CPO No. 31; 1 and DI034,
And electromagnetic cut lI! via D036! ! ! The valves 4I and 42 are driven and controlled to the stop position. Also, in step 5119, 1
If it is determined that the movement is to the right, the outrigger 7 is returned to its original position in step 5VIII, and the F register is reset.
If it is determined in step 5119 that 1 - left movement - 1, then in step 5139 the outrigger is returned to its original position (FIG. 7) and the F register is reset.
Move on to 5.

Incidentally, in step 5IO (1, when the rotation command for the swivel base 3 is obtained by operating the width rIG with l, this is taken into the hydraulic control device 15, and the hydraulic motor 25 is rotated in the direction I'). drive (step S1.40). Step 514
In step 1, it is determined whether the desired rotation angle has been reached, and if the desired rotation angle is reached, the process returns to step 5109, and if it is desired, the process moves to step 5142, where the operating panel 1G is controlled to stop. As a result, the hydraulic control device 15 stops the hydraulic motor 25 for the swivel table 3 (step S143), and records the rotation angle direction in a predetermined storage means (RAM 33).
(Step SL44). This direction of rotation can be updated every time the boom 4 is moved, and the RAM 33 is reset when the boom 4 returns to its basic position.

Now, an example of the operation will be explained using the flowchart shown in FIG.

Assuming that the extension and depression angle of the boom 4 are controlled at the same time in steps 5107 and 8108, steps S], ], 0, S
120-3110 to 5116.5121, the boom 4 is extended from the state shown in FIG. 7 to the state shown in FIGS. 1 and 2. Then, when the boom 4 is in the desired state, step S11. T~5118.81
22 to 5123 and stops.

Next, the process moves to step 5109 and steps 8140 to 8140 are executed.
5141 and rotate the swivel base 3. Steps 8142 to 51 when the swivel base 3 reaches the desired rotational position.
After processing 44, the result will be as shown in FIG.

Further, when the operation panel 16 is operated in step S], 08 and a command to reduce the depression angle of the boom 4 is issued, steps 5120 and S 111 to 5115.5119.5121
process is not repeated). In addition, in this loop G, if it is determined to be dangerous at step 5114, the processing from step 5124 onward is performed (steer knob 5
124-134). As a result, as shown in Figure 9-1, the vehicle body 2 moves in the opposite direction to the overturning direction and becomes safe, so the boom 4 can be controlled to further reduce its depression angle, as shown in Figure 9-1. The boom 4 can be placed in a horizontal position as shown in FIG. Furthermore, if you move away from the dangerous angle, step 5114 always moves to step 3119, so outrigger 7 returns to its original position (7th position).
(Figure).

Since the present embodiment operates in this manner, when the vehicle body 2 enters the dangerous area (outside the area indicated by diagonal lines x, y, and z in FIG. 4), it can automatically move the vehicle body 2 to the opposite side from the direction of overturning, and the center of gravity can be moved. It maintains balance and prevents falls. After leaving the dangerous angle, the vehicle body 2 can return to its original position (Fig. 7).

〔Effect of the invention〕

According to the present invention, as described above, it is possible to significantly reduce the danger range of the boom overturning and expand the working range. Therefore, compared to the conventional workable area shown by diagonal lines (X, Y, Z range) shown in FIG. )
It is possible to expand the range of work that can be done.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an embodiment according to the present invention, FIG. 2 is a side view showing the same embodiment, FIG. 3 is a system diagram showing a hydraulic control system, and FIG. 4 is an explanatory diagram showing a safety area. Fig. 5 is a system diagram showing the fall prevention mechanism of the same embodiment, Fig. 6 is a flowchart shown to explain the action of the embodiment, and Figs. 7 to 9 are shown to explain the action of the embodiment. FIG. 2...Vehicle body, 3...Swivel base, 4...Boom, 7.
... Outrigger -19... Fixed leg, 10... Length measurement sensor, 14... Angle sensor -115... Hydraulic control device, 26... ROM, 29... Hydraulic circuit, 30
···Control device. 18 Open'+'r62~111898 (7) Figure 4 Boom horizontal direction Figure 7

Claims (1)

[Claims] In an aerial work vehicle in which a boom is pivotally supported on a swivel base that is rotatably provided on the vehicle body, and a bucket is pivotally attached to the tip of the boom, the vehicle body is horizontally mounted on both the front, rear, left and right sides of the vehicle body. A fixed leg including a movable outrigger is provided, a length measuring sensor is provided on the boom to measure its extension/contraction length, an angle sensor is provided to detect the angle of the boom from the horizontal, and detection signals from each of the sensors are provided. is imported and compared with preset danger range data, and when it is determined that it is in the danger range,
A fall prevention mechanism for an aerial work vehicle, comprising a hydraulic control device capable of driving and controlling the outriggers to control movement of the vehicle body in a direction opposite to a dangerous direction.