JP2000063099A - Controller for vehicle for high lift work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller surely preventing interference between a working base and a telescopic boom in a vehicle for high lift work provided with a working bench constructed of a based body part and an elevating part. SOLUTION: In a vehicle for high lift work, a working bench 4 is installed on the tip of a telescopic boom 3 via a mounting base 10, while the working bench 4 is constructed of a base body part 41 connected to the mounting base 10 side and an elevating part 42 lifting/lowering from/to the base body part 41, and a limit derricking angle θA of the telescopic boom 3 and a limit revolving angle θB of the working bench 4 are provided in a condition to set the elevating part 42 of the working bench 4 in the lowered position. If a derricking angel θ1 of the telescopic boom 3 is within the limit derricking angle θA and a revolving angle θ2 of the working bench 4 is within the limit revolving angle θB when the elevating part 42 is in the lifted position, a lowering action of the elevating part 42 is prohibited. If the elevating part 42 is in the lowered position and a boom derricking angle θ1 of the telescopic boom 3 is within the limit derricking angle θA, a revolving action of the working bench 4 is prohibited. If the elevating part 42 is in the lowered position and a revolving angle θ2 of the working bench 4 is within the limit revolving angle θB, a derricking action of the telescopic boom 3 is prohibited.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control of an aerial work vehicle.
It concerns the device. 2. Description of the Related Art In an aerial work vehicle, on a vehicle frame,
Telescopic boo supported on a swivel mounted on
Attach a workbench to the end of the
Keeps the ground constant regardless of the movement of the telescopic boom
Due to the configuration that allows horizontal turning while holding,
The relative movement between the telescopic boom and the workbench with the up-and-down movement of the contraction boom
The relationship changes and the telescopic boom and platform may
Interfering conditions occur. [0003] For this reason, conventionally, in aerial work vehicles,
Controls to prevent interference between the telescopic boom and the platform
Have been proposed (for example, Japanese Utility Model No. 2-8959)
Gazette). [0004] Incidentally, the above-mentioned known example
Conventional anti-interference control, such as
As a workbench that can be attached, a single configuration work without shape change
It is assumed that the equipment has a business stand. So, for example,
The worktable is attached to the base of the telescopic boom.
Part and the elevating part which can move up and down with respect to the base part
In the case of a composite structure consisting of
Depending on the conditions where the workbench and telescopic boom interfere
(Relative relationship) is different, so it is assumed that
Cannot be applied as it is,
It is necessary to reflect the elevation position of the elevator
Is required. [0005] Therefore, the present invention comprises a base portion and an elevating portion.
An aerial work vehicle equipped with a workbench
Work at height to ensure avoiding interference with the boom
Made for the purpose of providing a car control device
It is. [0006] The present invention solves this problem.
The following configuration is adopted as specific means to solve
are doing. That is, as shown in FIGS.
Base 3a of telescopic boom 3 on swivel 2 mounted on
The telescopic boom 3 is driven up and down so that it can be driven up and down freely.
The up-down drive is enabled by means 25, while the telescopic boom is
3 the mounting base 10 at the tip 3b of the telescopic boom 3.
It is connected swingably along the track surface and its ground posture is up.
So that it can be maintained constant regardless of the movement of the telescopic boom 3
In addition to the configuration, the upper end of the mounting base 10 is provided with water.
Flat swing drive freely mounted and worktable swing drive means
26, a base portion 41 that is driven to turn horizontally by the
41 is attached to the side end of
By the lowering drive means 27, at least the same
Bell rising position and descent position lower than the rising position
And a lifting unit 42 that can be driven up and down between the
Aerial work platform with an attached workbench 4
Undulating state detecting means for detecting the undulating state of the telescopic boom 3
21 and a work table for detecting the horizontal turning state of the work table 4
Turning state detecting means 22;
Workbench elevating state detecting means for detecting the elevating state of the descending part 42
23, and outputs an operation signal based on the operation of the operator.
Operating means 24 and these means 21, 22, 23, 2
4 to receive the signal from the undulation drive means 25 and the work table
The operation control of the rotating drive means 26 and the work platform elevating drive means 27
Control means 30 for performing the above-mentioned control.
The working state detecting means 21 and the workbench turning state detecting means 22
Signals from the platform elevation state detecting means 23 and the operating means 24
An arithmetic processing unit 31 for receiving and performing arithmetic processing;
An undulation drive control unit 32 for controlling the operation of the means 25;
Platform turning drive for controlling the operation of the platform turning drive means 26
The operation of the motion control unit 34 and the work platform elevating drive unit 27
A workbench elevating drive control unit 36 to be controlled;
Operation control of the undulation drive means 25 by the control unit 32 is prohibited.
Up-and-down driving inhibition means 3 for outputting an up-and-down driving inhibition signal
3 and the workbench by the workbench turning drive control unit 34
The workbench turning drive is controlled to prohibit the operation control of the turning drive means 26.
Work platform turning drive inhibiting means 35 for outputting a motion inhibition signal;
The workbench elevating drive by the workbench elevating drive control unit 36
Prohibition of work platform elevating drive to prohibit operation control of moving means 27
Work platform lifting drive inhibiting means 37 for outputting a signal
At the same time, the arithmetic processing unit 31
The undulation drive means 25 and the workbench corresponding to the operation signals
Necessary work of the turning drive means 26 and the work platform elevating drive means 27
Actuation control corresponding to the calculated control amount
The control signal is sent to the up / down drive control unit 32 and the workbench turning drive control.
Output to the unit 34 and the workbench elevating drive control unit 36, respectively.
On the other hand, the lifting unit 42 of the worktable 4 is set at the lowered position.
In the state where the lifting part 42 and the telescopic boom 3
The telescopic boom 3 can be raised and lowered without causing interference.
And the worktable 4 is turned horizontally.
And the critical turning angle θB that can be
Work with each retained value θA, θB and the undulation state detecting means 21
Table turning state detecting means 22 and work table elevating state detecting means 2
3, based on the detection signal from
2 is in the ascending position, and the undulation angle θ of the telescopic boom 3
1 is not more than the limit undulation angle θA and the work table 4 is turned
When the angle θ2 is equal to or less than the limit turning angle θB, the vertical movement
Prohibit the lowering operation of the part 42 from the raised position to the lowered position.
Work platform lifting drive from the work platform lifting drive inhibiting means 37
A prohibition signal is output, and the elevating part 42 of the worktable 4 is moved down.
And the undulation angle θ1 of the telescopic boom 3 is at the limit
When the undulation angle θA is equal to or smaller than the angle θA, the turning angle θ2 of the work table 4 is used.
Is prohibited to make the turning angle less than the limit turning angle θB.
In order to turn the worktable from the worktable turn drive inhibiting means 35
The drive inhibit signal is output, and the lifting / lowering portion 42 of the worktable 4 is lowered.
In the lower position and the turning angle θ2 of the worktable 4 is the above limit
When the swing angle is less than θB, the undulation angle of the telescopic boom 3
Raising and lowering operation such that θ1 is equal to or less than the above-mentioned limit undulating angle θA
Prohibition of up / down driving from the up / down driving prohibiting means 33 to prohibit
Characterized in that it is configured to output a signal.
You. According to the present invention, with such a configuration,
The following effects can be obtained. That is, the operation means 24 is operated.
In the arithmetic processing unit 31 of the control means 30,
The undulating drive means corresponding to an operation signal from the operating means 24
25, worktable turning drive means 26 and worktable elevating drive means 2
7 is calculated by calculation, and this required
A corresponding operation signal is transmitted to the up / down drive control unit 32 and the workbench turning drive.
Output to the motion controller 34 and the workbench elevating drive controller 36,
Each drive means is controlled by each drive control unit 32, 34, 36.
25, 26 and 27 are driven, and the operation of the operation means 24 is performed.
Raising and lowering the telescopic boom 3 in response to the signal, and the above work
The turning operation of the platform 4 or the lifting / lowering section 42 in the worktable 4
Up and down drive is realized,
It becomes possible. On the other hand, the operation accompanying the operation of the operation means 24
Raising and lowering the telescopic boom 3 and the work according to the signal
The turning operation of the platform 4 or the lifting / lowering section 42 in the worktable 4
Even when the lifting / lowering operation of the telescopic boom 3 is performed.
Of the work table 4 and the turning state of the work table 4
Of the three members in the elevating state of the elevating part 42
May cause interference between the telescopic boom 3 and the worktable 4.
Is the same as described above.
In order to ensure safety in use, such interference
It is possible to take steps to avoid the situation beforehand and surely
is necessary. [0010] From this viewpoint, in the present invention,
The undulating state detecting means 21 and the workbench turning state detecting means 22
And the detection signal from the platform elevating state detecting means 23
Then, control for avoiding such interference is performed by the control means 30.
Like that. That is, the arithmetic processing unit of the control means 30
At 31, the lifting section 42 of the worktable 4 is in the lowered position.
The lifting unit 42 and the telescopic
The telescopic boom 3 is raised without causing interference with the boom 3.
The working angle of the working table 4 and the critical angle θA
Possesses the limit turning angle θB that can be turned horizontally.
ing. Then, the retained values θA and θB and the undulation
The state detecting means 21 and the workbench turning state detecting means 22
Based on the detection signal from the platform elevating state detecting means 23,
Interference between the lifting part 42 of the worktable 4 and the telescopic boom 3
To determine if there is a possibility. That is, the elevating part 42 of the work table 4 is in the ascending position.
And the undulation angle θ1 of the telescopic boom 3 is
The turning angle θ2 of the worktable 4 is less than or equal to the limit undulation angle θA.
When the rotation angle is equal to or less than the limit turning angle θB,
When the lifting section 42 of the work stand 4 is lowered to the lowering position,
Since the part 42 may interfere with the telescopic boom 3,
In the case of the above, the work platform lifting drive inhibiting means 37
An elevation drive inhibition signal is output, and the elevation position of the elevation section 42 is increased.
Prohibit the descent operation from the stand to the descent position. Further, the lifting / lowering portion 42 of the work table 4 is in a lowered position.
And the undulation angle θ1 of the telescopic boom 3 is at the limit
When the undulation angle is less than θA, the work table 4 is
In a direction in which the turning angle θ2 is equal to or less than the limit turning angle θB.
When the turning operation is performed, the elevating part 42 of the work table 4 and the telescopic
In this case, the
Work platform swing drive inhibition means 35 inhibits work platform swing drive
A signal is output, and the turning angle θ2 is changed to the limit turning angle θB.
The turning operation of the worktable 4 described below is prohibited. Further, the elevating part 42 of the work table 4 is lowered.
Position and the turning angle θ2 of the worktable 4
When the rotation angle is not more than θB, the telescopic boom 3
When the telescopic boom 3 and the work table 4 are raised.
In this case, there is a possibility of interference with the descending part 42.
Means that the up / down driving inhibition signal is
Is output, and the undulation angle θ1 is equal to or less than the limit undulation angle θA.
The up-and-down operation of the telescopic boom 3 is prohibited. Thus, the telescopic boom 3 and the worktable 4
Assuming that there is a possibility of interference with
Up and down operation of the telescopic boom 3 in the interference direction.
The turning operation of the work table 4 and the lifting and lowering of the work table 4
By prohibiting the lowering operation of the part 42, the telescopic boom 3
It is possible to avoid the interference between the work table 4 and the
As a result, the safety of using
It will be even better. DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an aerial work vehicle according to the present invention
The control device will be specifically described based on a preferred embodiment.
You. FIGS. 1 and 2 show a control device according to the present invention.
FIG. 2 shows an aerial work vehicle Z provided with
No. 1 is a vehicle frame, and 2 is mounted on the vehicle frame 1.
The swivel 3 is raised and lowered at the base 3a of the swivel 2
It is a telescopic boom that is freely attached. This telescopic boo
3 is provided by a built-in telescopic hydraulic cylinder (not shown).
As it is driven to extend and retract,
Undulating hydraulic cylinder 5 ("
(Moving means 25 "). still,
The undulation angle of the telescopic boom 3 is determined by a boom undulation angle sensor 11.
(Corresponds to the "undulating state detecting means 21" in the claims.
). Also, at the tip 3b of the telescopic boom 3,
Means that the mounting base 10 is along the undulation locus surface of the telescopic boom 3
The mounting base 10
Is a level arranged between the telescopic boom 3 and the tip 3b.
By the operation of the ring hydraulic cylinder 6, the telescopic boom
Regardless of the ups and downs of 3, the ground posture is always maintained
You. Further, the tip of the mounting base 10 has the following work.
The work stand 4 is attached. The work table 4 is moved up and down with a base 41 described below.
And a composite structure including the portion. The base part 4
1 includes a floor plate frame 41a having a rectangular flat plate shape,
A substantially central position of the lower surface of the frame 41a is
It is connected to the tip part so as to be horizontally pivotable. Soshi
The base portion 41 is provided with the worktable swing hydraulic motor 7 (special).
It corresponds to the "workbench turning drive means 26" in the claims.
) For horizontal turning drive. On the other hand, the lifting unit 42
Is a rectangular flat plate having substantially the same width as the base portion 41.
Floor plate frame 42a. And this elevating
The portions 42 are arranged on both sides of the side end of the base portion 41, respectively.
Hydraulic cylinders 8, 8 for raising and lowering the work table
(Corresponds to “workbench elevating drive means 27” in the range of request)
, And the work table elevating hydraulic cylinders 8, 8
As shown by the solid line in FIG.
The “elevated position” at substantially the same level as 1 is indicated by a broken line in FIG.
As shown in FIG.
Up and down. In addition, the lifting of the lifting unit 42
The lowering position is determined by the workbench elevating sensor 13 (claims).
(Corresponds to the “workbench elevating state detecting means 23”)
Detected. An operation lever 9 is provided on the work table 4.
(Corresponding to "operation means 24" in the claims)
The operation panel 14 provided is provided. The aerial work vehicle Z having such a configuration is, in principle,
Then, according to the operation of the operation lever 9, the hydraulic
Cylinder 5 and hydraulic motor 7 for turning the worktable, and for raising and lowering the worktable
Hydraulic cylinder 8 (actually also includes telescopic hydraulic cylinder
) Operate the worktable 4 as required.
To work position to perform required high-altitude work
Things. By the way, as described above, only the operation means
Operate each of the above hydraulic cylinders and the like in accordance with the operation of 24
And, in some cases, the work table 4 and the telescopic boom 3
May interfere with work safety.
Is as described above. Therefore, in this embodiment,
In other words, the present invention is applied, and
The above-mentioned interference can be avoided beforehand and surely,
We are trying to ensure safety. Below, this interference avoidance
The control will be described. First, in the aerial work vehicle Z,
A work that may cause interference between the telescopic boom 3 and the worktable 4
Assuming business conditions, the limits are set. That is, the undulation angle of the telescopic boom 3
As shown in FIG. 1, as shown in FIG.
In the state set in the lower position, the elevating part 42 and the extension
The telescopic boom 3 can be moved without causing interference with the retractable boom 3.
The undulation angle at which the undulating operation can be performed is defined as the limit undulation angle “θ
A ". Therefore, the telescopic boom 3 has this
The telescopic boom 3 when it falls further beyond the angle θA
And the work table 4 may interfere with each other. Ma
In addition, the telescopic boom 3 falls below the limit undulation angle θA.
In this state, the lifting section 42 of the work table 4 is
From the “Position” to the “Descent Position”
There is a possibility of interference between the work table 3 and the work table 4. Further, the turning angle of the work table 4 is described.
As shown in FIG. 2, the lifting section 42 of the work table 4 is lowered.
In the state set in the lower position, the elevating part 42 and the extension
The work table 4 is turned without causing interference with the contraction boom 3.
The maximum turning angle that can be operated
"+ Direction" and "-direction" based on the axial direction of the program 3
Are respectively set to “θB”. Therefore, the work table 4 is
Over the limit turning angle “+ θB” or “−θB”
Further, when the turning operation is performed to approach the turning angle “0” side (immediately)
That is, the working table 4 has a turning angle indicated by reference numeral 4B in FIG.
The turning position of “+ θB” or the turning angle “−θ” indicated by reference numeral 4C.
B ”from the turning position to the turning position indicated by reference numeral 4A.
Interference between the telescopic boom 3 and the worktable 4
Will occur. As described above, the critical undulation angle “θA” is
The limit turning angle “θB” and the vertical movement on the work table 4
From the combination of the three members in the vertical direction of the portion 42
Judgment of the possibility of interference between the boom 3 and the workbench 4
If it is possible to prohibit operation in the direction of interference
good. Judgment of such interference and possible interference
The operation prohibition control is performed by the control means 30.
It is something to be done. The control means 30, as shown in FIG.
The boom hoist angle sensor 11 and the workbench turning angle sensor 12
From the platform lift sensor 13 and the operating lever 9 respectively.
Out of the arithmetic processing unit 31 that performs arithmetic processing in response to
The drive control unit 32, the workbench turning drive control unit 34, and the workbench lift
Lowering drive control unit 36, up-and-down driving prohibition means 33, and workbench
Turning drive inhibiting means 35 and workbench elevating drive inhibiting means 37
It has. The arithmetic processing unit 31 operates the operation
The control value corresponding to the operation of the bar 9 is
5 and a hydraulic motor 7 for turning the platform and a hydraulic system for raising and lowering the platform.
Calculate and output for each of the Linda 8
You. Further, the arithmetic processing unit 31 performs the boom undulation angle setting.
Sensor 11, platform rotation angle sensor 12, and platform up / down sensor
13 and work with the telescopic boom 3
The possibility of interference with the platform 4 is determined. That is, from each of the sensors 11, 12, and 13,
Of the telescopic boom 3 and the worktable 4 based on the detection signal of
The current relative relationship is calculated, and this calculated value is
The limit undulation angle “θA” and the limit turning angle stored
Judging the possibility of interference by comparing with "θB"
If it is determined that interference exists, avoid interference beforehand.
In addition, the undulation drive prohibition means 33 and the worktable swing drive prohibition
Stop means 35 and work platform lifting drive inhibiting means 37
Then, the up / down drive control unit 32 and the worktable swing drive control
Control unit 34 and the workbench elevating drive control unit 36
Signal to prohibit operation in the direction causing interference.
Signal. In this judgment control of the possibility of interference
This will be described later. The undulation drive control unit 32 and the workbench swing
The drive control unit 34 and the workbench elevating drive control unit 36
The hydraulic cylinder 5 for raising and lowering and the hydraulic motor 7 for turning the worktable
And control the supply and discharge of hydraulic pressure to the hydraulic cylinder 8
It consists of a hydraulic control valve. Therefore, each of these drive systems
The above hydraulic cylinders 5, 8 by the control units 32, 34, 36
And each of the above-mentioned driving prohibiting hands for prohibiting the operation of the hydraulic motor 7
As a stage, unloads the original pressure to the corresponding hydraulic control valve
In addition to the unload valve, the hydraulic control valve
When the solenoid is operated, the operation signal to the solenoid is
It may be configured with a blocking mechanism that blocks transmission of signals. Subsequently, the aerial work vehicle in this embodiment
The actual control of the control device of FIG.
A specific description will be given based on this. After starting the control, first, in step S1,
And the up-and-down angle θ1 of the telescopic boom 3 at the present time.
The turning angle θ2 of the work table 4 and the elevation of the work table 4
The elevation signal of the section 42 is read. Next, in step S2, the operation level
The presence or absence of operation of the bar 9 is determined, and the operation lever 9 is operated.
In step S3, the work table
4 is currently set to the “elevated position”
Judge. Here, the elevating part 42 of the worktable 4 is in the “elevated position”.
If it is determined that the “
The telescopic boot accompanying the lowering operation of the elevator 42
Possibility of interference between the system 3 and the worktable 4 (that is, the lifting unit 42)
Judge. That is, the current undulation angle θ1 of the telescopic boom 3 is
Turning of the work table 4 that is smaller than the limit undulation angle θA
The turning limit angle “+ θB” when the angle θ2 is on the + side and the turning limit angle on the − side
It is determined whether or not the angle is between the angles “−θB”.
When both cases are satisfied, it is determined that "possible interference"
Then, the lowering operation of the elevating unit 42 is prohibited (step S
5) On the other hand, if one of these two conditions is satisfied
If not, it is judged that there is no possibility of interference.
Operation, that is, operation control corresponding to the operation of the operation lever 9
Is executed (step S6). Incidentally, in step S5
In other words, the operation in the interference direction,
Operation in the direction opposite to the interference direction,
That is, the lifting operation of the lifting unit 42 is allowed. On the other hand, in step S3,
It is determined that the lifting section 42 of the platform 4 is set to the “down position”.
If it has been set, then in step S7, the current
The undulation angle θ1 of the telescopic boom 3 is smaller than the limit undulation angle θA
It is determined whether or not. Then, when “θ1 <θB” holds
When the work table 4 operates in the direction of decreasing the turning angle,
Because there is a possibility of interference with the telescopic boom 3,
In this case, the turning operation of the worktable 4 in the turning angle decreasing direction is prohibited.
(Step S8). In step S8,
Operation in the interference direction, that is, turning of the worktable 4 in the direction of decreasing the turning angle
Operation is prohibited, and operation in the direction opposite to the interference direction is prohibited.
Movement, that is, the turning operation of the working table 4 in the turning angle increasing direction
Permissible. In step S7, "θ1
> ΘA ”, the process further proceeds to step S9.
In this case, the current turning angle θ2 of the worktable 4 is the turning limit of the + side.
Between the angle “+ θB” and the negative turning limit angle “−θB”
Is determined as “| θ2 | <| θB |”.
If the telescopic boom 3 moves down further,
The telescopic boom 3 may interfere with the worktable 4.
In this case, the telescopic boom 3 is prohibited from falling down.
(Step S10). In step S10,
Is the operation in the interference direction, that is, the falling operation of the telescopic boom 3
Operation in the direction opposite to the interference direction,
That is, the raising operation is allowed. On the other hand, in step S9, "| θ
2 |> | θB | ”, the telescopic boot
Since there is no possibility of interference between the system 3 and the work table 4,
Execute (step S11). As described above, the aerial work vehicle of this embodiment
In the control device, the telescopic boom 3 and the worktable 4
Assuming that there is a possibility of interference,
Operation of the telescopic boom 3 in the interference direction,
The turning operation of the worktable 4 and the elevating unit 4 in the worktable 4
By prohibiting the lowering operation of the telescopic boom 3,
It is possible to avoid the interference with the work stand 4 in advance and surely.
As a result, the safety of using
It will be even better. [0037] Other (1) In the above embodiment, the work table 4
The elevating position of the elevating part 42 is referred to as “elevating position” and “descent position”.
It is detected in two stages, upper and lower,
In another embodiment of the present invention, the moving of the elevating unit 42 in the elevating direction is performed.
The moving amount may be detected linearly. Such a configuration
, When the lifting / lowering part 42 and the telescopic boom 3
Reducing the area that cannot operate due to interference
And expand the workable area of the aerial work vehicle Z accordingly
As a result, the work performance can be improved. (2) In the above embodiment, the above work
The ascending position of the elevating section 42 on the table 4 is
41 is set at substantially the same level as that of FIG.
In the embodiment, the level is higher than that of the base 41.
A “elevated position” can also be set. With this configuration
By doing so, the critical undulation angle θA can be made smaller (in other words,
If the telescopic boom 3 falls down to a position closer to the ground
In particular), and particularly, the workability of the worker on the worktable 4 is improved.
It will be good. (3) In the above embodiment,
In this manner, the telescopic boom 3 is raised and lowered and the worktable 4 is turned.
And the raising and lowering operation of the raising and lowering section 42 in the work table 4.
However, there is a risk of interference between the telescopic boom 3 and the worktable 4.
Only the operation in the direction is prohibited. Therefore,
A method for unloading each of the above-mentioned drive inhibiting means to the original hydraulic pressure.
In the case of the configuration with the unload valve, the operation method of the operation lever 9
Direction detecting means for detecting the direction of the vehicle.
That the lever 9 is operated in the direction in which the interference occurs.
Unload the original hydraulic pressure only when a
In addition, the above-mentioned driving means may be connected to a solenoid.
Each of which is constituted by a hydraulically operated control valve of the
Is configured with an operation signal blocking mechanism,
Only on the signal transmission circuit that instructs operation in the direction in which it occurs
What is necessary is just to provide the said interruption | blocking mechanism. (4) In the above embodiment, the above control
In the arithmetic processing unit 31 of the means 30, the limit undulation angle θA and the limit
The turning angle θB is configured to be stored in advance.
However, these limit angles θA and θB are determined when interference possibility is determined.
It is sufficient if the arithmetic processing unit 31 holds the
For example, each of these limit angles is calculated by calculation.
It can also be configured. (5) In the above embodiment, the present invention
Between the telescopic boom 3 and the worktable 4
An example of application to interference prevention control is shown.
Relative position between the telescopic boom 3 and the ground, and the telescopic boom
3 and the relative position of various devices installed on the vehicle frame 1
The location is known from the specifications of the aerial work vehicle.
Therefore, based on the relative position between the telescopic boom 3 and the worktable 4,
Control device of the present invention for preventing interference between the two.
Indirectly, using the telescopic boom 3 and the ground
Surface interference prevention or the telescopic boom 3 and vehicle frame
To prevent interference with various devices installed on the
It is possible.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a main part of an aerial work vehicle equipped with a control device according to the present invention. FIG. 2 is a view taken in the direction of arrows II-II in FIG. FIG. 3 is a functional block diagram of the control device shown in FIG. 1; FIG. 4 is a control flowchart of the control device shown in FIG. 1; [Description of Signs] 1 is a vehicle frame, 2 is a swivel base, 3 is a telescopic boom, 4 is a worktable, 41 is a base part of the worktable, 42 is an elevating part of the worktable, 5 is a hydraulic cylinder for raising and lowering, 6 is Hydraulic cylinder for leveling, 7 is a hydraulic motor for turning the worktable, 8 is a hydraulic cylinder for raising and lowering the worktable, 9 is an operation lever, 10 is a mounting base, 1
1 is a boom angle sensor, 12 is a workbench turning angle sensor,
13 is a workbench elevating sensor, 14 is an operation panel, 21 is an up-and-down state detection means, 22 is a workbench turning state detection means, 23 is a workbench elevation state detection means, 24 is an operation means, 25 is an up-and-down drive means, and 26 is Worktable turning drive means, 27 is a worktable elevating drive means, 30 is a control means, 31 is an arithmetic processing section, 32 is an up / down drive control section, 33 is an up / down drive inhibition means, 34 is a worktable turning drive control section, 35 is Workbench turning drive inhibiting means, 3
Reference numeral 6 denotes a workbench elevating drive control unit, 37 denotes a workbench elevating drive inhibiting means, and Z denotes an aerial work vehicle.

Claims (1)

Claims: 1. A telescopic boom (3) is mounted on a swivel (2) mounted on a vehicle frame (1) so that the base end (3a) of the telescopic boom (3) can be driven up and down freely. ) Can be driven up and down by the up / down driving means (25), while the mounting base (1) is attached to the tip (3b) of the telescopic boom (3).
0) is connected so as to be swingable along the up-and-down trajectory surface of the telescopic boom (3), and the ground posture thereof is maintained constant regardless of the up-and-down motion of the telescopic boom (3). A base part (41) attached to the upper end of the base (10) so as to be capable of horizontal turning drive and driven to turn horizontally by a worktable turning drive means (26);
1) is attached to the side end portion so as to be able to move up and down freely, and at least the base part (4) is moved by a worktable elevating drive means (27).
The lifting unit (4) which can be driven up and down between a rising position at the same level as 1) and a lowering position lower than the rising position.
And (2) an aerial work vehicle equipped with a workbench (4) comprising: an up-and-down state detection means (21) for detecting the up-and-down state of the telescopic boom (3); Workbench turning state detecting means (22) for detecting a horizontal turning state; worktable elevating state detecting means (23) for detecting the elevating state of the elevating section (42) in the worktable (4); Operating means (24) for outputting an operating signal based on the information, and these means (21), (22), (23) and (24)
Control means (30) for controlling the operation of the up / down driving means (25), the workbench turning drive means (26) and the workbench elevating drive means (27) in response to a signal from the control means (30). The arithmetic processing unit () performs arithmetic processing by receiving signals from the undulating state detecting means (21), the workbench turning state detecting means (22), the workbench elevating state detecting means (23), and the operating means (24). 31), an up / down drive control unit (32) for controlling the operation of the up / down drive unit (25), and a workbench turn drive control unit (34) for controlling the operation of the workbench turn drive unit (26). A workbench elevating drive control section (36) for controlling the operation of the workbench elevating drive means (27); and a hoisting drive for inhibiting operation control of the hoisting drive means (25) by the hoisting drive control section (32). Undulating drive prohibition that outputs prohibition signal Means (33), worktable swing drive inhibiting means for outputting the platform turning drive inhibit signal so as to prohibit the operation control of the workbench turning drive control unit (34) by the working table rotation drive means (26) (3
5) and a workbench elevating drive prohibiting means (3) for outputting a workbench elevating drive prohibition signal to prohibit the operation control of the workbench elevating drive means (27) by the workbench elevating drive control section (36).
7), and the arithmetic processing section (31) includes the undulating drive means (25), the work platform turning drive means (26), and the work platform elevating drive corresponding to the operation signal from the operation means (24). A required operation amount of the means (27) is calculated by operation, and an operation control signal corresponding to the calculated control amount is sent to the up / down drive control unit (32), the work platform turning drive control unit (34), and the work platform elevating drive control unit. (36), while the lifting unit (42) of the work table (4) is set at the lowered position without causing interference between the lifting unit (42) and the telescopic boom (3). The telescopic boom (3)
And a limit turning angle (θB) at which the work table (4) can be turned horizontally, and the holding values (θA), (θ
B) The undulating state detecting means (21), the workbench turning state detecting means (22), and the workbench elevating state detecting means (23)
Based on the detection signal from the above, the elevating part (42) of the workbench (4) is at the ascending position, and the undulation angle (θ1) of the telescopic boom (3) is equal to or less than the limit undulation angle (θA) and When the turning angle (θ2) of the worktable (4) is equal to or smaller than the limit turning angle (θB), the worktable lifting / lowering drive inhibiting means is for inhibiting the lowering operation of the elevating unit (42) from the raised position to the lowered position. (37) outputs a workbench elevating drive prohibition signal, the elevating part (42) of the workbench (4) is at the descent position, and the undulation angle (θ1) of the telescopic boom (3) is the critical undulation angle (θ1). θA) or less, the workbench turning drive inhibiting means (3) so as to prohibit the turning operation such that the turning angle (θ2) of the worktable (4) becomes equal to or less than the limit turning angle (θB).
A worktable turning drive inhibition signal is output from 5), and the lifting / lowering portion (42) of the worktable (4) is at the lowered position, and the turning angle (θ2) of the working table (4) is equal to the limit turning angle (θB). ), The undulation drive prohibiting means (33) sends an undulation drive prohibition signal to prohibit the undulation operation such that the undulation angle (θ1) of the telescopic boom (3) becomes equal to or less than the limit undulation angle (θA). A control device for an aerial work vehicle, wherein the control device is configured to output.