JP2001240384A - Operation controller for high lift work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate inclination adjustment for storing a working table in the vicinity of a storage position of the table. SOLUTION: This controller is an operation controller 40 for a high lift work vehicle having a vertical post supported inclinably in a tip of telescopic boom provided to be freely derricked on a vehicle body, and capable of storing the working table provided in the tip of the post in the storage position located on the upper side of an operation cab. In the controller 40, an inclination angle adjusting circuit 55 actuates a leveling operation circuit 59 to adjust automatically an inclination angle of the working table to an angle allowing storage in the storage position, when it is determined by a storage area determining circuit 53 that the position of the table detected by a working table position detecting sensor 41 is going to come within a prescribed range in the vicinity of the working table strorage position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control device for an aerial work vehicle, and more particularly, to an aerial work vehicle capable of storing a worktable provided at the tip of a boom so as to be tiltable at a storage position of a vehicle body. The present invention relates to a vehicle operation control device.

[0002]

2. Description of the Related Art When performing electric construction work on a telephone pole,
Generally, an aerial work vehicle having a work table at the tip of a telescopic boom that can freely move up and down is used. This aerial work platform is provided with a swivel base provided on the vehicle body, a telescopic boom pivotally connected to the swivel base, and a vertically movable rocker at the tip of the telescopic boom. A worktable with a large floor area that is provided to be pivotable at the tip of a pivoted vertical post,
Some are configured with The vertical post is pivotally connected to a leveling cylinder that swings the vertical post in the vertical direction, and the leveling cylinder is controlled to extend and retract by a leveling device.

[0003] The leveling device keeps the worktable at a constant tilt angle regardless of the boom up-and-down angle. An inclination angle of the workbench with respect to the vehicle body is calculated from a relative value to a detection value of a post angle sensor that detects an angle to be formed, and expansion / contraction operation of the leveling cylinder is controlled according to the calculated inclination angle.

[0004] The leveling cylinder can also be operated to extend and retract by a manual leveling correction device that manually operates the tilt angle of the worktable held by the leveling device. When the manual leveling correction device is operated, the workbench held at a constant tilt angle by the leveling device can be corrected to an arbitrary tilt angle according to the content of the operation.

In such a high-altitude work vehicle, when the workbench is stored in the vehicle body, the boom operating device for operating the telescopic boom is operated, and the telescopic boom is turned and contracted to move the workbench. The vehicle is moved within a predetermined range near the storage position of the vehicle body. When the work table is about to enter the predetermined range, the tilt angle of the work table is adjusted by the manual leveling correction device to an angle that can be stored in the storage position. Then, after moving the workbench into the predetermined range, the telescopic boom is moved down and down to store the workbench in the storage position of the vehicle body.

[0006]

However, in the vicinity of the boundary of the predetermined range of the worktable, the driving cabin provided at the front of the vehicle body and the telescopic boom are in a very close state, so that the manual operation by the manual leveling correction device is performed. Becomes complicated. Therefore, in order to eliminate the complexity of the manual leveling correction device, a method of narrowing the tilt adjustment range of the worktable by the manual leveling correction device can be considered. Cannot be held, and the usability is deteriorated.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has an object to provide an aerial work vehicle capable of easily performing tilt adjustment for storing a work table near a storage position of the work table. It is an object to provide an operation control device.

[0008]

In order to solve the above-mentioned problems, an operation control device for an aerial work vehicle according to the present invention includes a boom (for example, a telescopic boom 13 in the embodiment) provided on a vehicle body so as to be able to move up and down. An operation control device for an aerial work vehicle that is provided with a worktable supported at the tip so as to be tiltable, and that can store the worktable in a predetermined storage position of a vehicle body. A leveling device (for example, the up-and-down angle sensor 43, the post angle sensor 45, and the leveling operation circuit 59 in the embodiment) that maintains the tilt angle, and a workbench position detecting unit that detects the position of the workbench (for example, the workbench in the embodiment) When the position of the workbench detected by the position sensor 41) and the workbench position detecting means is about to enter a predetermined range near the storage position, the leveling device is operated to tilt the workbench. Tilt angle automatic adjustment means for automatically adjusting the angle that can store angular in the storage position (e.g., tilt angle adjusting circuit 55 in the embodiment) constituting a and.

According to the operation control device having the above structure, when the position of the worktable detected by the worktable position detecting means is about to enter a predetermined range near the storage position, the leveling device is controlled by the automatic tilting angle adjusting means. Activate. As a result, when the worktable enters the predetermined range, the tilt angle of the worktable is automatically adjusted to an angle that can be stored in the storage position.

When the workbench is stored in a predetermined storage position of the vehicle body, the tilt angle of the worktable is set to be within a predetermined range near the storage position in order to prevent the worktable from abutting on the vehicle body. After the angle is adjusted to a value that can be stored in the work table, the boom is moved within a predetermined range, and the boom is tilted or swung to store the workbench in the storage position. Here, by setting the boundary of the predetermined range at a position as long as the workbench does not abut on the vehicle body, the tilt adjustment range of the workbench can be expanded, and usability of the storage operation of the workbench can be improved. . Also, when the operator attempts to enter the predetermined range, the leveling device is activated and the tilt angle of the worktable is automatically adjusted to an angle that can be stored in the storage position, so that the operator manually adjusts the tilt angle of the worktable. Compared with the related art, the storing operation is facilitated, and the work efficiency of the entire storing operation of the work table can be improved.

In the operation control device having the above-mentioned structure, the boom is rotatable with respect to the vehicle body, and the workbench inclination angle detecting means for detecting the inclination angle of the workbench with respect to the vehicle body (for example,
A workbench inclination sensor 47 according to the embodiment is provided, and a storage state determination unit (for example, a storage unit) that determines whether the workbench can be stored in the storage position on the workbench based on a detection value detected by the workbench inclination angle detection unit Storage stabilization circuit 61) in the form, when the workbench attempts to enter a predetermined range near the storage position, when the workbench position detecting means detects a value that the workbench is not in the storable state, An alarm means (for example, the operation restricting circuit 63 in the embodiment) for performing an alarm operation for the operation of the boom to enter the predetermined range may be provided.

According to the operation control device having the above-described structure, when the work table attempts to enter a predetermined range near the storage position,
If the workbench position detecting means detects a value in which the workbench is not in a stowable state, the warning means performs an alarm operation for an operation of the boom which causes the worktable to enter a predetermined range.

When the work table attempts to enter a predetermined range near the storage position, the work table may come into contact with the vehicle body unless the work table is in a retractable state. For this reason, if the workbench is not in the retractable state when trying to enter the predetermined range, an alarm operation is performed for the operation of the boom that causes the worktable to enter the predetermined range, so that the workbench can be moved to the vehicle body of the worktable. Can be prevented beforehand. Here, in the present specification, the alarm operation means an operation including an operation of restricting the operation of the boom and an operation of performing an alarm using an alarm buzzer, an alarm lamp, and the like.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. This embodiment shows an aspect of an aerial work vehicle having a worktable with a large floor area at the tip of a telescopic boom that is capable of swiveling and telescopic movement on a vehicle body. Before describing the operation control device first, an aerial work vehicle equipped with the operation control device will be described. Aerial work vehicle 1
As shown in FIG. 1, the vehicle is configured with a truck as a base, has a driving cabin 5 at the front of the vehicle body 3, and projects outward on both front and rear sides of the vehicle body 3 behind the driving cabin 5. Outrigger jack 7 that stably supports the vehicle body 3
Are arranged. A swivel 9 projecting upward is provided on a rear portion of the vehicle body 3. A turning motor 11 is provided in the vehicle body 3 below the turning table 9, and the turning table 9 is turned by the operation of the turning motor 11. A telescopic boom 13 configured to be telescopic and movable to extend and retract is pivotally connected to the upper portion of the swivel 9. A telescopic cylinder 15 is built in the telescopic boom 13.
The telescopic boom 13 is configured to be telescopically operated by the telescopic operation of No. 5. An up-and-down cylinder 17 is swingably connected between the lower surface of the telescopic boom 13 and the lower part of the swivel table 9.

A vertical post 1 is provided at the end of the telescopic boom 11.
9 is pivotably connected to the vertical post, and the vertical post 1
9 has a flange 19a protruding in the horizontal direction. The tip of the telescopic boom 13 and the flange 19a
A leveling cylinder 21 is pivotally connected therebetween, and the vertical post 19 is tilted in the front-rear direction of the vehicle body 3 in a vertical plane by the expansion and contraction operation of the leveling cylinder 21. A turning mechanism 23 is provided above the flange portion 19 a of the vertical post 19, and the work table 2 having a large floor area is provided above the turning mechanism 23.
5 is attached. The swivel mechanism 23 has a workbench turn motor 27, and the workbench 25 is configured to swing by the operation of the workbench turn motor 27.

The workbench 25 includes the telescopic boom 13 and the workbench 2.
5, an operation device 29 for operating the work table 5, a manual leveling correction device 31 for manually operating the tilt angle of the work table 25, and an ON operation when the tilt angle of the work table 25 is automatically adjusted, and no automatic adjustment A tilt angle adjustment switch 33 that is sometimes turned off.

Next, the operation control device of the present invention will be described.
The operation control device 40 includes, as shown in FIG.
And manual leveling correction device 31 and tilt angle adjustment switch 3
3, workbench position sensor 41, undulation angle sensor 43, post angle sensor 45, workbench inclination sensor 47, and controller 4
9. The operation device 29, the manual leveling correction device 31, and the tilt angle adjustment switch 33 have been described above, and thus description thereof will be omitted. The workbench position sensor 41 has a function of detecting the position of the workbench 25 (arbitrary position such as the center position of the workbench 25) shown in FIG.
Detect the dimensional position. Note that the position of the work table 25 can be specified using polar coordinates. The elevation angle sensor 43 has a function of detecting the elevation angle of the telescopic boom 13 shown in FIG. The post angle sensor 45 has a function of detecting an angle between the telescopic boom 13 and the vertical post 19 shown in FIG.

The controller 49 includes an operation control circuit 51, a storage area determination circuit 53, a tilt angle adjustment circuit 55, and a memory 57.
, A leveling operation circuit 59, a storage determination circuit 61, and an operation restriction circuit 63. The memory 57 is a storage circuit, and the memory 57 includes a work table 2 shown in FIG.
A predetermined range which is a moving range of the work table 25 in the vicinity of the storage position of the work table 5 (the position of the work table 25 indicated by a solid line in FIG. 1) is set. More specifically, the predetermined range refers to a range in which the work table 25 is held at a tilt angle that can be stored with respect to the vehicle body 3, in other words, a region exceeding the predetermined range is a work table shown in FIG. Cabin 5 driving 25
This is an area in which the tilt angle of the worktable 25 can be adjusted to a tilt angle that can be stored in the storage position without contacting the work table 25 or the like. Specifically, the predetermined range is from the 0 degree undulation angle of the telescopic boom 13 shown in FIG. 1 when the storage position of the telescopic boom 13 when the workbench 25 is stored is 0 degree. The movable area of the workbench 25 when the telescopic boom 13 moves below the undulation angle θ1 at which the telescopic boom 13 is in a horizontal state, and the turning angle of the telescopic boom 13 shown in FIG.
When the turning angle is 0 when the vehicle is oriented in the front-rear direction, the turning region when the turning angle is in the range of ± θ2 degrees in the left-right direction of the vehicle body 3 is referred to as a combined region. Note that the predetermined range is not limited to the above-described range, and the range can be arbitrarily set depending on the type of the vehicle.

The storage area determination circuit 53 shown in FIG. 2 has a function of determining whether or not the detected value of the workbench position sensor 41 is about to fall within a predetermined range stored in the memory 57. The leveling operation circuit 59 calculates the tilt angle of the worktable 25 from the detected values of the undulation angle sensor 43 and the post angle sensor 45, and holds the worktable 25 at a constant tilt angle (horizontal state) from the calculated tilt angle. The leveling cylinder 21 has a function of specifying the amount of extension of the leveling cylinder 21 for performing the operation and controlling the expansion / contraction operation of the leveling cylinder 21 in accordance with the specified amount of extension. The storage determination circuit 61 has a function of determining whether or not the work table 25 is at an angle at which the work table 25 can be stored at the storage position according to the detection value of the work table tilt sensor 47. Tilt angle adjustment circuit 55
When the storage area determination circuit 53 determines that the position of the worktable 25 is about to enter the predetermined range, the activation control circuit 63 is activated, and the leveling activation circuit 59 is activated.
Has the function of operating The operation restricting circuit 63 operates in response to the restricting signals from the tilt angle adjusting circuit 55 and the storage determining circuit 61 to restrict the operation in the direction of moving the telescopic boom 13 by the swing motor 11 and the up-and-down cylinder 17 into a predetermined range. Further, it has a function of restricting the operation of the leveling cylinder 21 by the manual leveling correction device 31.
If the operation control circuit 63 has not received the control signal, it sends the operation control signal sent from the operation control circuit 51 to the operation control valve V as it is.

The operation control circuit 51 controls the operation of the telescopic cylinder 15, the workbench swing motor 27, the swing motor 11, the up-and-down cylinder 17, and the leveling cylinder 21 according to the operation of the operation device 29 and the manual leveling correction device 31. The operation of the operation control valve V is controlled. Further, an area within a predetermined range is read from the memory 57 according to a position signal from the workbench position sensor 41. The operation control circuit 51 includes an operation control valve V for the telescopic cylinder 15 and the worktable swing motor 27, and the operation control circuit 63 includes an operation control valve V for the swing motor 11, the up-and-down cylinder 17, and the leveling cylinder 21.
Are electrically connected.

Next, the operation of the operation control device 40 of the present invention will be described. After the aerial work vehicle 1 is moved to a position near the work site with the work table 25 stored on the vehicle body 3 shown in FIG. 1, the outrigger jack 7 is extended to stably support the vehicle body 3. Then, an operator (not shown) gets on the work table 25 via the vehicle body 3, and the operator manually operates the operation device 29 to move the work table 25 to a desired work site, and to perform manual leveling to facilitate the work. By operating the correction device 31, the work table 25 is tilted to a predetermined tilt angle. Then, the worker performs work.

When the operation is completed, the worker performs the operation of storing the work table 25. First, the operator turns on the tilt angle adjustment switch 33 shown in FIG.
Is operated, and then the operation device 29 is operated.
When the operation device 29 is operated, the operation signal is sent to the operation control circuit 51, and the operation control circuit 51 that has received the operation signal responds to the operation signal, and the telescopic cylinder 15, the worktable swing motor 27, the swing motor 11 By controlling the operation of each operation control valve V of the up-and-down cylinder 17, the workbench 25 is moved above the operation cabin 5 as shown by a two-dot chain line in FIG. At the same time, the detected values of the elevation angle sensor 43 and the post angle sensor 45 shown in FIG. 2 are sent to the leveling operation circuit 59, and the leveling operation circuit 59 calculates the inclination angle of the work table 25 based on these detected values. Then, the extension amount of the leveling cylinder 21 for maintaining the inclined state is calculated, and the expansion / contraction operation of the leveling cylinder 21 is controlled according to the calculated extension amount. For this reason, even if the telescopic boom 13 falls down, the workbench 25 can be moved above the driving cabin 5 while being held at the predetermined inclination angle.

When the work table 25 further moves toward the driving cabin 5 and the work table 25 attempts to enter a predetermined area, the storage area determination circuit based on the position information from the work table position sensor 41 shown in FIG. 53 determines that it is about to enter a predetermined area, and the determination signal is sent to the tilt angle adjustment circuit 55. The tilt angle adjusting circuit 55 that has received the determination signal activates the leveling operation circuit 59, and the leveling operation circuit 59 automatically adjusts the tilt angle of the worktable 25 to an angle (horizontal state) that can be stored in the storage position. Note that the outer area beyond the boundary of the predetermined area is an area where the work table 25 does not abut the driving cabin 5 or the like. There is no danger of contact with 5th grade. In addition, the boundary of the predetermined area is
Can be set at the last minute position that does not abut the driving cabin 5 or the like, the area where the tilt adjustment of the work table 25 can be widened, and the usability of the aerial work vehicle 1 can be improved. .

After the operating table 25 adjusted to an angle that can be stored in the vehicle body 3 is moved into a predetermined area by operating the operating device 29, the telescopic boom 13 falls down and the operating table 25 is stored in the storage position. Is done. As described above, by using the operation control device 40 having the tilt angle adjustment circuit 55,
The tilt angle of the tilted work table 25 can be automatically adjusted to an angle that can be stored in the storage position of the work table 25 without bringing the work table 25 into contact with the driving cabin 5.

When the storage area determination circuit 53 determines to enter the predetermined area, the storage determination circuit 61 determines that the workbench 25 is not in a storable state based on the detection value of the workbench tilt sensor 47. Is determined, the operation restricting circuit 63 is activated and the telescopic boom 13 by the operating device 29 is operated.
The transmission of the operation control signal to the operation control valve V of the raising / lowering cylinder 17 and the turning motor 11 that causes the turning operation and the turning operation of the motor is cut off. Therefore, it is possible to prevent the work table 25 from abutting on the driving cabin 5 or the like. Further, when the operation of the up-and-down cylinders 17 and 11 is restricted, even if the tilt adjustment of the work table 25 is attempted by the manual leveling correction device 31, the tilt angle adjustment circuit 55 is operated and the work table 25 by the leveling operation circuit 59 is operated. Is automatically adjusted. Therefore, it is possible to release the operator from the trouble of manually adjusting the tilt of the work table 25, and it is possible to improve the work efficiency of the entire storage work.

Further, when the work table 25 is stored at a specific tilt angle with respect to the vehicle body 3, the tilt angle adjusting switch 33
Is turned off, the operation of the manual leveling correction device 31 can be enabled when the work table 25 is about to enter a predetermined range, and the vehicle body 3 is tilted with the work table 25 tilted to a specific tilt angle. Can be stored.

[0027]

As described above, according to the operation control device for an aerial work vehicle of the present invention, the position of the workbench detected by the workbench position detection means falls within a predetermined range near the storage position. When trying to operate, the leveling device is operated by the automatic tilting angle adjusting means, so that the storing operation becomes easier as compared with the conventional technique in which the operator manually adjusts the tilting angle of the worktable, and the storing operation of the worktable is facilitated. The work efficiency of the whole work can be improved. In addition, by setting the boundary of the predetermined range at a position just before the work table does not come into contact with the vehicle body, the tilt adjustment range of the work table can be expanded, and the usability of the storage operation of the work table can be improved.

If the workbench position detecting means detects a value that the workbench is not in a storable state when the workbench attempts to enter a predetermined range near the storage position, the alarm means moves the workbench into the predetermined range. When an alarm operation is performed for the operation of the boom to be inserted, it is possible to prevent the work table from abutting on the vehicle body.

[Brief description of the drawings]

FIG. 1 is a front view of an aerial work vehicle equipped with an operation control device according to an embodiment of the present invention.

FIG. 2 is a block diagram of an operation control device according to an embodiment of the present invention.

FIG. 3 is a diagram for explaining an operation of the operation control device according to the embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Height working vehicle 3 Body 13 Telescopic boom (boom) 25 Work table 33 Inclination angle adjustment switch (ON / OFF operation means) 40 Operation control device 41 Work table position sensor (work table position detecting means) 43 Elevation angle sensor (Leveling) 45) Post angle sensor (leveling device) 47 Workbench tilt sensor (workbench tilt angle detection means) 55 Tilt angle adjustment circuit (tilt angle automatic adjustment means) 59 Leveling operation circuit (leveling device) 61 Storage judgment circuit (storage state) Judgment means) 63 Operation regulation circuit (alarm means)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F333 AA08 AB04 AC02 BB09 BB23 BD02 BE02 CA02 CA04 FA17 FA22 FA25 FA36 FD08 FD09 FE03 FE09

Claims (2)

[Claims] An operation of an aerial work vehicle, comprising: a work table supported on a tip end of a boom movably provided on a vehicle body so as to be tiltable, wherein the work table can be stored in a predetermined storage position of the vehicle body. A control device, comprising: a leveling device that holds the worktable at a constant tilt angle regardless of an elevation angle of the boom; a worktable position detection unit that detects a position of the worktable; and the worktable position detection unit. When the position of the worktable detected by the above is about to enter a predetermined range near the storage position, the leveling device is operated to automatically adjust the tilt angle of the worktable to an angle that can be stored in the storage position. An operation control device for an aerial work vehicle, comprising: a tilt angle automatic adjusting means. 2. The boom is rotatable with respect to the vehicle body, and includes a workbench inclination angle detection means for detecting an inclination angle of the workbench with respect to the vehicle body, and is detected by the workbench inclination angle detection means. Having storage state determination means for determining whether or not the work table can be stored in the storage position of the work table from the detected value, when the work table is about to enter a predetermined range near the storage position. In a case where the workbench position detecting means detects a value in which the workbench is not in a storable state, an alarm means for performing an alarm operation for operating the boom so as to enter the predetermined range is provided. The operation control device for an aerial work vehicle according to claim 1, further comprising: