JP2001151497A - Safety device for high lift working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To exactly judges as to whether a working vehicle is capable of traveling or not on a difference in level in an advancing direction of a vehicle body and to safely pass the vehicle through a travelable difference in level without falling down. SOLUTION: When a vehicle body 10 is traveled, the size of a difference in level on the ground in front of an advancing direction of a vehicle body 10 is detected by an infrared ray sensor 44 and a difference in level part 32 of a controller 30. A safety speed calculating part 34 calculates safety speed based on the size of the difference in level detected in this way and a position of a work bench 16 detected by detecting devices 41 to 43 and a position calculating part 32 for the vehicle body 10. A comparison part 35 compares the safety speed and traveling speed of the present vehicle body 10 and outputs an alarm signal when traveling speed of the present vehicle body 10 is more than the safety speed. When the alarm signal is outputted, a regulating part 36 receives the signal, controls a valve control part 31 and reduces speed up to speed that the vehicle body 10 is capable of traveling on the difference in level.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial work vehicle in which a workbench is mounted on a movable vehicle body via a lifting device so that the vehicle can safely travel on a step in the traveling direction of the vehicle body. Safety device for aerial work vehicles.

[0002]

2. Description of the Related Art An aerial work vehicle constructed by mounting a workbench on a vehicle body via an elevating device has a relatively high center of gravity, so there is no problem when traveling on flat ground. When the center of gravity of the vehicle body moves while traveling on the upper side, the vehicle body is greatly inclined, and in some cases, the vehicle may fall. For this reason, in the past, regardless of whether or not the vehicle body might fall, there is a risk that the vehicle body may fall over to some extent. For example, the vehicle does not travel on a step (for example, about 100 mm) or travels at an extremely low speed. To prevent the vehicle from tipping over.

[0003]

However, in such a method, the determination as to whether or not to travel on a step depends on the driver's intuition. In some cases, this was avoided, and workability was poor, such as narrowing the work range more than necessary.

The present invention has been made in view of such a problem, and it is possible to accurately determine whether or not the vehicle can travel on a step in the traveling direction of the vehicle body and to turn over the step on which the vehicle can travel. It is an object of the present invention to provide a safety device for an aerial work vehicle that can safely pass through the step without performing the step.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to an aerial work where a work table is mounted on a movable vehicle body via an elevating device (for example, a boom 14 in the embodiment). A vehicle safety device, a step detecting means (for example, the infrared sensor 44 and the step calculating unit 32 of the controller 30 in the embodiment) for detecting the level of a step on the ground in the forward direction of the vehicle body, and the traveling speed of the vehicle body A safe speed at which the vehicle body can travel on the step is calculated in accordance with the speed detecting means (for example, the speed sensor 45 in the embodiment) for detecting the vehicle speed and the size of the step detected by the step detecting means. Safe speed calculation means (for example,
Safe speed calculator 3 of controller 30 in the embodiment
4) and comparing means for comparing the traveling speed of the vehicle body detected by the speed detecting means with the safe speed calculated by the safe speed calculating means, and outputting an alarm signal when the running speed exceeds the safe speed (for example, A comparison unit 35 of the controller 30 in the embodiment, and an alarm unit that receives an alarm signal from the comparison unit and performs an alarm operation (for example, the regulation unit 36 and the valve control unit 3 of the controller 30 in the embodiment).
1).

[0006] With such a configuration, in the aerial work vehicle, when the vehicle is running, the vehicle body is detected by a step detecting means (for example, a device utilizing reflection of ultrasonic waves or infrared rays). The safe speed is calculated by the safe speed calculating means based on the size of the step on the ground in front of the traveling direction. Then, the safety speed is compared with the current traveling speed of the vehicle body detected by the traveling speed detecting means, and an alarm is activated when the current traveling speed of the vehicle body exceeds the safe speed. As described above, when there is a step ahead in the traveling direction of the vehicle body, it is determined whether the vehicle can pass through the step at the current traveling speed based on the magnitude of the step and the current traveling speed of the vehicle body. Is determined, and an alarm is issued if the vehicle cannot pass through the step under the current traveling speed. For this reason, it is possible to reliably determine whether or not the vehicle can travel on a step in the traveling direction of the vehicle body, and it is possible to safely pass the step on which the vehicle can travel without falling over.

[0007] In addition to the above configuration, position detecting means for detecting the position of the worktable with respect to the vehicle body (for example, the undulation angle detector 41, the length detector 42, the turning angle detector 43, and the controller 30 in the embodiment). Position calculation unit 33)
It is preferable that the safe speed calculating means calculates the safe speed in accordance with the position of the worktable with respect to the vehicle body detected by the position detecting means. The traveling speed of the vehicle body is reduced (decelerated) so that the traveling speed of the vehicle body detected by the means becomes smaller than the safe speed calculated by the safe speed calculating means before the vehicle body travels on the step. Preferably, there is. The alarm operation by the alarm means may emit sound or light to a person who adjusts the traveling speed of the vehicle body.

Another object of the present invention is a safety device for an aerial work vehicle in which a work platform is mounted on a movable vehicle body via an elevating device, wherein the height of a step on the ground in the traveling direction of the vehicle body is large. Step detecting means (for example, the infrared sensor 44 and the step calculating unit 132 of the controller 130 in the embodiment) for detecting the height, and when the size of the step detected by the step detecting means is larger than a predetermined value. Travel regulation means for regulating travel of the vehicle body (for example, the comparison unit 135 and the regulation unit 13 of the controller 130 in the embodiment)
6 and a valve control unit 131). In such a configuration, the traveling of the vehicle body is restricted (including deceleration and stopping) when the step on the ground ahead of the vehicle in the traveling direction of the vehicle detected by the step detecting means exceeds a predetermined value.
Therefore, it is possible to safely pass through the step as in the case described above.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a side view of the aerial work vehicle 1 including the safety device according to the present invention. The aerial work vehicle 1 has a turntable 12 on an upper part of a vehicle body 10 having a pair of left and right crawler devices 11, 11, and a boom 14 is mounted on the upper part of the turntable 12 via a foot pin 13.
Is provided. A vertical post 15 configured to be held vertically at all times is attached to the distal end of the boom 14, and the vertical post 15 is provided with a work table 16 for boarding an operator.

The left and right crawler devices 11 and 11 respectively include a starting wheel 11a, an idle wheel 11b, and both wheels 11a, 11b.
The left and right starting wheels 11a, 11a are driven by traveling motors 17, 17 provided on both left and right sides of the vehicle body 10.

The boom 14 is constructed by nesting a plurality of boom members. The boom 14 is raised and lowered by a raising and lowering cylinder 21 provided between the boom 14 and the swivel table 12, and is expanded and contracted by a built-in telescopic cylinder 22. It has become. A turning motor 23 is provided in the vehicle body 10,
As a result, the swivel 12 can be swiveled to horizontally turn the entire boom 14. Further, the worktable 16 has a built-in swing motor 24 so that the worktable 16 can be turned (swinged) around the vertical post 15.

As shown in FIG. 3, the work table 16 has left and right traveling operation levers L1 and L2 and a boom operation lever L3.
And a swing operation lever L4, both of which can be manually tilted from a vertical state (neutral position).

FIG. 1 shows a control device provided with a safety device in an aerial work vehicle 1. Here, the controller 30 includes a valve control unit 31, a step calculation unit 32,
Although the position calculation unit 33, the safety speed calculation unit 34, the comparison unit 35, and the regulation unit 36 are shown separately, they are provided for the sake of convenience in explaining the functions of the controller 30 in an easily understandable manner. 30 are not divided as described above.

First, a traveling command signal output by operating the left and right traveling operation levers L1 and L2 is transmitted to the controller 30.
Is input to the valve control unit 31 of FIG. The valve control unit 31 receives these command signals and electromagnetically drives the control valve V1, thereby controlling the supply of the hydraulic oil discharged from the hydraulic pump P and operating the left and right hydraulic motors 17,17. Here, the left and right hydraulic motors 17, 17 can be operated independently in the forward and reverse directions. Therefore, in addition to forward and backward traveling, one crawler device 11 can be fixed while the other crawler device 11 is fixed. , Or a spin turn performed by driving the left and right crawler devices 11 and 11 in opposite directions, respectively.

The up / down command signal, the expansion / contraction command signal, the turning command signal of the boom 14 output by the operation of the boom operation lever L3, and the swing command signal output by the operation of the swing operation lever L4 are also provided by the valve control unit of the controller 30. 3
1 is input. The valve control unit 31 receives these command signals and electromagnetically drives the control valve V2, thereby controlling the supply of the hydraulic oil discharged from the hydraulic pump P to thereby control the up / down cylinder 21, the telescopic cylinder 22, the turning motor 23 and the neck. The swing motor 24 is operated. Therefore, by operating the boom operation lever L3 and the swing operation lever L4, it is possible to move the boom 14 up and down, expand and contract, and pivot, or to swing the work table 16 to move the work table 16 to a desired position. It is.

Infrared sensors 44, 44 are provided in front of and behind the vehicle body 10 (or the swivel base 12).
These infrared sensors 44, 44 emit infrared rays onto the ground in the forward direction of the vehicle body 10 (accordingly, in front of the vehicle body 10 when traveling forward, and behind the vehicle body 10 in reverse traveling), and capture reflected waves on the ground. The information is output to the step calculator 32 of the controller 30. Step calculator 32
Calculates the height of the ground based on the information input from the infrared sensor 44, and obtains the size of the step ahead in the traveling direction of the vehicle body 10. FIG. 2 shows that the vehicle body 10 is traveling forward of the vehicle body 10 (to the left in FIG. 2), and the size D of the step is detected by an infrared sensor 44 provided in front of the vehicle body 10. I have. The step referred to here is
Both the step where the ground height becomes high and the step where the ground height becomes low are included.

The position calculating section 33 of the controller 30 is provided at the base end of the boom 14 to detect information from an up / down angle detector 41 for detecting the up / down angle of the boom 14, and is provided at the tip of the boom 14. Detection information from a length detector 42 that detects the length of the boom 14 and a turning angle detector 43 that is provided near the turning motor 23 and detects the turning angle of the turntable 12 (the turning angle of the boom 14). Then, the current position of the workbench 16 with respect to the vehicle body 10 is calculated based on the detected information.

The safe speed calculating section 34 of the controller 30
Calculates the safe speed based on the size of the step calculated by the step calculator 32 and the position of the worktable 16 with respect to the vehicle body 10 (for example, the height of the worktable 16) calculated by the position calculator 33. Here, the safe speed is a speed at which the vehicle body 10 can travel on a step on the ground detected by the infrared sensor 44 and the step calculating unit 32, and is stored in advance as data in a table format. FIG. 4 shows an example of such data. In the figure, R
1, R2, R3 (R1 <R2 <R3) is the height of the work table 16, and the greater this value, the lower the safe speed.
The position of the work table 16 with respect to the vehicle body 10 may be determined by the height of the work table 16, the undulation angle of the boom 14, the distance between the work table 16 and the vehicle body 10 (foot pin 13), and the like. Often, the higher these values, the lower the safe speed.

A speed sensor 45 for detecting the traveling speed of the vehicle body 10 is provided in the vehicle body 10 (not shown in FIG. 2), and the detection information is input to a comparison unit 35 of the controller 30. The comparing unit 35 compares the traveling speed of the vehicle body 10 detected by the speed sensor 45 with the safe speed calculated by the safe speed calculating unit 34, and outputs an alarm signal when the traveling speed of the vehicle body 10 exceeds the safe speed. .

The control unit 36 of the controller 30 outputs a control signal to the valve control unit 31 when the alarm signal is output from the comparison unit 35, and the running speed of the vehicle body 10 detected by the speed sensor 45 The operation of the control valve V1 is regulated so as to be lower than the safe speed calculated by the speed calculator 34.

With such a configuration, in the aerial work vehicle 1, when the vehicle body 10 is traveling by operating the left and right traveling operation levers L1 and L2, a step difference between the infrared sensor 44 and the controller 30 is calculated. The level of the step on the ground ahead of the vehicle body 10 in the direction of travel of the vehicle body 10 is detected by the unit 32. The safety speed calculation unit 34 determines the size of the step thus detected and the detectors 41 to 43 and the position calculation unit 33. The safe speed is calculated on the basis of the position of the worktable 16 with respect to the vehicle body 10 detected in the above. Then, the comparison unit 35 compares the safe speed with the current traveling speed of the vehicle body 10,
When the current traveling speed of the vehicle body 10 exceeds the safe speed, an alarm signal is output. When the warning signal is output, the regulating unit 36 receives the warning signal and controls the valve control unit 31 to decelerate (stop in some cases) to a speed at which the vehicle body 10 can travel on the step.

As described above, according to the present invention, when a step is present ahead of the vehicle in the traveling direction, the step is determined based on the magnitude of the step and the current traveling speed of the vehicle while maintaining the current traveling speed. Is determined whether it can pass through,
If the vehicle cannot pass through the step under the current traveling speed, an alarm is issued (here, forcible deceleration). For this reason, it is possible to reliably determine whether or not the vehicle can travel on a step in the traveling direction of the vehicle body, and it is possible to safely pass the step on which the vehicle can travel without falling over. Note that the criterion for determining whether the step can pass through the step may be different depending on whether the step is convex or concave.

Next, another safety device according to the present invention will be described. This safety device is provided in the aerial work vehicle 1 as in the case of the above-described safety device, but only the configuration of the controller is different as shown in FIG. The controller 130 includes a valve control unit 131 and a step calculation unit 13.
2. The step calculation unit 132 is configured to include the comparison unit 135 and the regulation unit 136, and calculates the ground height based on the information input from the infrared sensor 44 similarly to the step calculation unit 32 of the controller 30. Then, the size of the step in the traveling direction of the vehicle body 10 is obtained. The comparing unit 135 compares the size of the step thus obtained with a predetermined value (fixed value), and outputs a predetermined signal when the size of the step is larger than the predetermined value. The regulation unit 136 receives the predetermined signal and outputs a regulation signal to the valve control unit 131. The valve control unit 131 receives the regulation signal and controls the control valve V.
1 to control the running of the vehicle body 10. Note that the travel regulation is a regulation in which the traveling speed of the vehicle body 10 is reduced to a certain low speed so that the vehicle body 10 does not fall down even when passing over the step, or the traveling is stopped. According to the safety device having such a configuration, similarly to the case of the above-described safety device, it is possible to safely pass through the step.

Although the embodiment of the present invention has been described above, the scope of the present invention is not limited to the above-described embodiment. For example, the infrared sensor 44 is used in the above-described embodiment as a means for detecting a step on the ground ahead of the vehicle body 10 in the traveling direction. An ultrasonic wave may be emitted onto the ground, a reflected wave on the ground may be captured, and the information may be output to the step calculator 32 (or the step calculator 132) of the controller 30. At this time, the step calculator 32 of the controller 30 calculates the ground height based on the information input from the ultrasonic sensor, and
The magnitude of the step at the front in the traveling direction of 0 is obtained.
Note that when the traveling speed is high, it is preferable to detect a step that is ahead of the traveling direction.

In the above embodiment, when calculating the safe speed in the safe speed calculating section 34, the size of the step and the position of the worktable 16 with respect to the vehicle body 10 are referred to, but based only on the size of the step. You may make it calculate. This is nothing less than fixing the position of the worktable 16 with respect to the vehicle body 10, but in that case, it is necessary to target the case where the height of the worktable 16 is the largest.

In the above embodiment, the alarm issued when the alarm signal is output from the comparing section 35 is determined by the vehicle body 10.
The traveling speed of the vehicle 10 is forcibly reduced to a safe speed. In addition, a method of emitting sound or light to an operator who operates the traveling levers L1 and L2 to adjust the traveling speed of the vehicle body 10 is used. It may be. Here, the sound is a buzzer sound, and the light is lighting (or blinking) of a lamp.

In the comparison section 135 of the above embodiment, the predetermined value to be compared with the detected level difference may be a fixed value.
Of the vehicle body 10 or a variable value that changes according to both of these values.

Further, in the above-described embodiment, the traveling device of the vehicle body 10 is the crawler devices 11, 11, but this need not necessarily be the crawler devices 11, 11, and may be tire wheels. A device for moving the work table 16 up and down (elevating device) is a boom 1 as in the above embodiment.
It does not have to be 4, and may be a device such as a vertical lifting type scissor device. In this case, it is preferable to change the deceleration according to the height of the scissor link.

[0029]

As described above, in the safety device for an aerial work vehicle according to the present invention, when there is a step in the forward direction of the vehicle body, the magnitude of the step and the current vehicle body Based on the traveling speed, it is determined whether the vehicle can pass through the step with the current traveling speed. If the vehicle cannot pass through the step with the current traveling speed, an alarm is issued. For this reason, it is possible to reliably determine whether or not the vehicle can travel on a step in the traveling direction of the vehicle body, and it is possible to safely pass the step on which the vehicle can travel without falling over.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a safety device according to the present invention.

FIG. 2 is a side view of an aerial work vehicle equipped with the safety device.

FIG. 3 is a perspective view of a work bench of the aerial work vehicle;

FIG. 4 is a graph showing an example of safe speed data stored in a safe speed calculating unit of the controller.

FIG. 5 is a block diagram showing a configuration of another safety device according to the present invention.

[Explanation of symbols]

 Reference Signs List 1 aerial work vehicle 10 body 11 crawler device 14 boom (elevating device) 16 work table 30 controller 31 valve control unit (warning means) 32 step calculating unit (step detecting unit) 33 position calculating unit (position detecting unit) 34 safety speed Calculation part (safety speed calculation means) 35 Comparison part (comparison means) 36 Restriction part (warning means) 41 Undulation angle detector (position detection means) 42 Length detector (position detection means) 43 Turning angle detector (position detection) Means) 44 Infrared sensor (step detecting means) 45 Speed sensor (speed detecting means)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F333 AA08 AB04 CA13 FA09 FA20 FA29 FA36 FD03 FE03 FE05 FE09

Claims (4)

[Claims] 1. A safety device for an aerial work vehicle in which a work platform is mounted on a movable vehicle body via an elevating device, wherein a level difference is detected to detect a size of a step on the ground in front of the vehicle body in the traveling direction. Means, speed detecting means for detecting the traveling speed of the vehicle body, and calculating a safe speed at which the vehicle body can travel on the step according to the size of the step detected by the step detecting means. Safety speed calculating means, comparing the running speed of the vehicle body detected by the speed detecting means with the safe speed calculated by the safe speed calculating means, and an alarm signal when the running speed exceeds the safe speed And a warning means for receiving the warning signal from the comparing means and performing a warning operation. 2. The vehicle according to claim 1, further comprising: a position detection unit configured to detect a position of the worktable with respect to the vehicle body, wherein the safety speed calculation unit determines the safety based on a position of the worktable with respect to the vehicle body detected by the position detection unit. The safety device for an aerial work vehicle according to claim 1, wherein the speed is calculated. 3. The warning means, wherein the traveling speed of the vehicle body detected by the speed detecting means is based on the safety speed calculated by the safety speed calculating means before the vehicle body travels on the step. The safety device for an aerial work vehicle according to claim 1 or 2, wherein the warning operation is performed by reducing the traveling speed of the vehicle body so that the vehicle speed is also reduced. 4. A safety device for an aerial work vehicle in which a work platform is mounted on a movable vehicle body via an elevating device, wherein a level difference is detected to detect a level of a ground step in front of the vehicle body in a traveling direction. Means, and a travel restricting means for restricting travel of the vehicle body when the size of the step detected by the step detecting means is larger than a predetermined value. Safety equipment.