JP2002160898A - Operating range regulating device for vehicle for high- lift work - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operating range regulating device that improves the operational capacity of a vehicle for high-lift work in a used state where outriggers are extended in the maximum projection length. SOLUTION: A side-region operation allowing range 16c selected when the revolving position of a revolving frame is in the right or left side region of the vehicle 1 and at least either of the outriggers in the front and back contributing to the safety of the side region has a projection width below a given one, is set with a working platform height limiting line P.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operating range restricting device for an aerial work vehicle.

[0002]

2. Description of the Related Art As shown in FIG. 3, a work platform is mounted on a vehicle 1 having outriggers 2a to 2d capable of extending and touching at front, rear, right and left positions, and a turntable 3 is mounted so as to be capable of turning. A base end of a boom 4 that can be changed in shape and has a worktable 5 attached to a tip end thereof is attached to the swivel base 3 so as to be able to perform an up / down operation. The turning operation of the swivel 3, the up / down operation of the boom 4, and the shape changing operation of the boom 4 can be performed by the turning operation control device 6, the up / down operation control device 7, and the shape changing operation control device 8 shown in FIG. 4. It has become.

[0003] As the boom capable of changing the shape, there are a boom capable of telescopic operation, a boom capable of bending operation, and a boom capable of telescopic and bending operation. FIG. 3 shows a boom that can be extended and retracted as the boom 4 whose posture can be changed. In this case, the shape change operation control device 8 is a telescopic operation control device.

In FIG. 4, each of the operation control devices 6 to 8
Are composed of drive hydraulic actuators 6a to 8a and operation control units 6b to 8b for controlling the driving thereof. In the case of working at heights using an aerial work vehicle, after the outriggers 2a to 2d are extended and grounded to stabilize the vehicle 1, the operator who is on the workbench 5 operates the operation control units 6a to 8a. By operating the operation unit (not shown) of the above, the drive of the drive hydraulic actuators 6a to 8a is appropriately controlled, and the work table 5 is moved to an arbitrary space position.

[0005] In the aerial work vehicle constructed as described above, the allowable operating range of the worktable 5 due to the raising / lowering operation of the boom 4 and the shape changing operation of the boom 4 is limited to each of the outriggers 2a related to grounding.
2d and the actual turning position of the swivel 3. For this reason, such an aerial work vehicle is provided with an operation range restricting device A. The operating range restricting device A selects the allowable operating range of the worktable based on the actual overhang amount of the outrigger and the actual swiveling position of the swivel table, and is determined from the actual angle of elevation and shape change of the boom. The actual platform position is
When trying to deviate from the permissible operating range of the selected workbench, a control signal for automatically stopping the boom hoisting operation and the boom shape changing operation in a direction to promote the departure is transmitted to the hoisting operation control device 7 and the shape. This is output to the change operation device 8. The undulation operation control device 7 and the shape change control unit 8 that have received the restriction signal from the operation range restriction device A
Are respectively their operation control devices (the undulation operation control device 7b
And a function of stopping the driving of the driving actuators 7a and 8a (driving in a direction deviating from the allowable operation range) prior to the operation of the operation input unit in the shape changing operation device 8b).

The conventional operating range restricting device A will be described with reference to FIG. 4. The operating range restricting device A includes a turning position detecting means 9 for detecting a turning position of the turntable 3, and each outrigger 2a.
Overhang length detecting means 10a for detecting overhang length of ~ 2d
-10d, a boom undulation angle detecting means 11 for detecting an undulating angle of the boom 4, a shape change detecting means 12 for detecting a shape changing state of the boom 4 (a boom for detecting a boom length when the boom 4 is a telescopic boom). The length detecting means corresponds to this), and each of the detecting means 9, 10a to 10d, 11,
The control signal output unit 13 receives a detection signal from the control unit 12 and outputs a control signal to an up / down operation control device 7 of the boom 4 and a shape change operation control device 8 of the boom 4.

The control signal output unit 13 selects the allowable operating range of the worktable 5 based on the actual overhang amount of the outriggers 10a to 10d and the actual turning position of the swivel base 3, and also selects the actual range of the boom 4 When the actual workbench position determined from the undulation angle and the shape change state of the workbench attempts to deviate from the permissible operating range of the workbench 5 according to the selection, the control signal is output, and the boom in the direction to promote the departure is output. 4 to restrict the up-and-down operation and the boom shape changing operation.

In the regulation signal output section 13, an outrigger
The allowable operating range of the worktable 5 selected based on the actual overhang amount of 2a to 2d and the actual turn position of the turntable 5 is as follows:
Conventionally, it is set as shown in FIGS. 5 to 8, the allowable operating range of the connecting portion of the operating table 5 to the tip of the boom 4 is shown as the allowable operating range of the operating table 5.

FIG. 5 shows the allowable range of operation of the worktable 5 when the turning position of the turntable 3 is located in the front area of the vehicle 1 as the front area operation allowable range 14. The front area indicates the area indicated by the reference numeral in FIG. The front range operation allowable range 14 is an operation range B of the worktable 5 that is allowed by the mechanism of the boom 4 (hereinafter, referred to as an operation range B that is allowed by the mechanism).
Are divided by a substantially vertical stability limit regulation line R that indicates a limit work radius at which the work table 5 can be operated without overturning the vehicle 1, and an operation range inside the work radius related to the division is defined as a front range operation allowable range 14. It is set. The front range operation allowable range 14 does not change regardless of the overhang length of the outriggers 2a to 2d related to the ground.

FIG. 6 shows the allowable working range of the worktable 5 when the turning position of the swivel 3 is located in the rear area of the vehicle 1 as the rear area operating allowable range 15. The rear region indicates a region indicated by reference numerals in FIG. The rear range operation allowable range 15 divides a mechanically allowable operation range B by a substantially vertical stability limit regulation line R indicating a limit operation radius at which the work table 5 can be operated without overturning the vehicle 1. , The working range inside the working radius pertaining to the section is set as the rear range working allowable range 15. The rear range operation allowable range 15 also does not fluctuate irrespective of the overhang length of the outriggers 2a to 2d related to the grounding.

FIG. 7 shows the allowable working range of the worktable 5 when the turning position of the swivel 3 is located in the right area of the vehicle 1 as the right-hand area operating allowable range 16. The right side area indicates an area indicated by reference numerals in FIG. The right side operation allowable range 16 is the outrigger 2 that contributes to ensuring the stability of the vehicle 1 when the turning direction of the turntable 5 is in the right side area.
Three right side operation allowable ranges 16a to 16c selected according to the overhang lengths of b and 2c (front and rear outriggers arranged on the right side of the vehicle 1) are set.

Among the right side operation allowable ranges 16a to 16c, 16a is selected when both the overhang amounts of the outriggers 2b and 2c relating to the ground are the maximum overhang length, and is mechanically allowable. The operable range B is the vehicle 1
Is divided by a substantially vertical stability limit regulation line Ra indicating the limit working radius at which the work table 5 can be operated without falling down, and the working range inside the working radius related to the division is set as the right side working allowable range 16a. It is.

The right side operation allowable range 16b is selected when the overhang lengths of the outriggers 2b and 2c for grounding are both equal to or longer than the middle overhang length and one of them is less than the maximum overhang length. The operation range B allowed by the mechanism is divided by a substantially vertical stability limit regulation line Rb indicating a limit operation radius at which the work table 5 can be operated without overturning the vehicle 1, and the work related to the division is performed. The operation range inside the radius is set as a right side operation allowable range 16b.

The right side operation allowable range 16c is selected when at least one of the outriggers 2b and 2c related to grounding is less than the intermediate overhang length, and the operation allowable range B that is mechanically allowable is defined as: The worktable 5 can be operated without overturning the vehicle 1 and divided by a substantially vertical stability limit regulation line Rc indicating a limit work radius, and an operation range inside the work radius related to the division is set as a right side operation allowable range 16c. It was done.

FIG. 8 shows the allowable operating range of the worktable 5 when the turning position of the swivel 3 is located in the left area of the vehicle 1 as a left operating area 17. The left side area indicates an area indicated by reference numerals in FIG. The left side region operation allowable range 17 is the outrigger 2 that contributes to ensuring the stability of the vehicle 1 when the turning direction of the turntable 5 is in the left side region.
Three left side operation allowable ranges 17a to 17c selected according to the overhang widths of a and 2d (front and rear outriggers arranged on the left side of the vehicle 1) are set. Of the left side operation allowable ranges 17a to 17c, 17a is selected when both the overhang lengths of the outriggers 2a and 2d relating to the ground are the maximum overhang length, and the mechanically allowable operation range. B is divided by a substantially vertical stability limit regulation line Ra indicating a limit work radius at which the work table 5 can be operated without falling down of the vehicle 1, and an operation range inside the work radius related to the division is a left side operation allowable range. 17a
It is set as.

The left side operation allowable range 17b is selected when the overhang amounts of the outriggers 2a and 2d related to the ground are both equal to or longer than the intermediate overhang length and one of them is less than the maximum overhang length. The operation range B allowed by the mechanism is divided by a substantially vertical stability limit regulation line Rb indicating the limit operation radius at which the work table 5 can be operated without overturning the vehicle 1, and the operation radius pertaining to the division is defined. The inner operation range is set as the left side operation allowable range 17b.

The left side operation allowable range 17c is selected when at least one of the outriggers 2a and 2d related to the ground is shorter than the intermediate overhang length. The operation table 5 is divided by a substantially vertical stability limit regulation line Rc indicating a limit operation radius at which the work table 5 can be operated without falling down of the vehicle 1, and an operation range inside the operation radius according to the division is set as a left side operation allowable range 17c. It was done.

The regulation signal output unit 13 of the operating range regulating device A
Selects an operation allowable range based on detection signals from the overhang length detecting means 10a to 10d and the turning position detecting means 9 (the above-described front area operation allowable range 14, rear area operation allowable range 1).
5, the applicable range is selected from the right-side operation allowable range 16a to 16c and the left-side operation allowable range 17a to 17c), and is obtained from the detection signals from the undulation angle detecting means 11 and the shape change detecting means 12. When the actual worktable position (the connecting portion of the workbench 5 to the end of the boom 4) attempts to deviate from the permissible operation range, the control signal for restricting the departure is transmitted to the up / down operation control device 7 and This is output to the shape change operation device 8. The undulation operation control device 7 and the shape change control unit 8 that have received the restriction signal from the operation range restriction device A are their operation control devices (the undulation operation control device 7b and the shape change operation device 8b), respectively.
The function of stopping the driving of the driving actuators 7a and 8a (driving in a direction deviating from the allowable operation range) is given priority over the operation of the operation input unit in.

The operating range restricting device A thus configured
Based on the actual overhang amount of the outrigger and the actual swivel position of the swivel base, the worktable allowable range is selected, and the actual workbench position obtained from the actual boom angle and the shape change state is determined. When trying to deviate from the permissible operating range of the workbench according to the selection, a control signal for automatically stopping the up / down operation of the boom and the operation of changing the shape of the boom in a direction to promote the deviation is provided by the up / down operation control device 7 and Since the output is output to the shape changing operation device 8, it is effective for safe work at a high place by a high place work vehicle.

[0020]

When an aerial work vehicle is used in a windy environment, a wind load acting on the boom 4 and the workbench 5 causes the aerial work vehicle to overturn moment (hereinafter referred to as overturning due to wind). Moment).
For this reason, the maximum wind power at which the aerial work vehicle does not overturn due to the overturning moment due to the wind is set as the usage limit wind power, and the use of the aerial work vehicle in a wind environment exceeding the set usage wind power limit is set. It is prohibited by instruction manuals.

In order to avoid complication, the above-mentioned use limit wind force is determined by each of the allowable operating ranges (the front allowable operating range 14, the rear operating allowable range) selected by the turning position of the swivel 3 and the overhang length of the auritoga 2a to 2d. In the range 15, the right side operation allowable range 16a to 16c, and the left side operation allowable range 17a to 17c), only one is set.

This use limit wind force sets the swivel 3 and the outriggers 2a to 2d in a state where the anti-overturning moment (the anti-overturning moment of the aerial work vehicle against the overturning moment due to the wind) is minimized, and the state of the boom 4 Is set to a limit wind power at which the aerial work vehicle does not overturn when the vehicle is in a state where the overturning moment due to the wind is the largest (the work table 5 is the highest).

The state in which the anti-overturning moment is minimized is that the swivel base 3 is in the right side area and at least one of the front and rear auritoga 2b, 2c which contributes to securing the stability of the right side area is less than the intermediate overhang length. State, or
The revolving base 3 is located in the left side area, and at least one of the front and rear auritoga 2a, 2d before and after contributing to ensuring the stability of the left side area is less than the intermediate overhang length. In the former, the operating range restricting device A is the right side operating allowable range 16c.
(See FIG. 7), and the latter is a state in which the operation range restricting device A has selected the left side operation allowable range 17c (see FIG. 8).

By the way, as described above, in the conventional operation range restricting device A, the maximum reachable height of the worktable 5 in the right side operation allowable range 16c or the left side operation allowable range 17c is not restricted at all. In the right or left side operation allowable range 16c or 17c, the limit wind power at which the aerial work vehicle does not fall over is set as the use limit wind power. The use limit wind force set in this way is the actual use limit when the outriggers 2a to 2d are used with the maximum overhang length (the use condition of the aerial work vehicle is typically used in this way). It will be set much lower than the wind. This leads to a significant decrease in working capacity in the use state of a typical aerial work vehicle.

An object of the present invention is to provide an operating range restricting device for improving the working capacity in a state of use of a general aerial work vehicle, that is, in a state of use in which the auritoga 2a to 2d is set to the maximum overhang length. What you want to do.

[0026]

Means for Solving the Problems In order to achieve the above-mentioned object, the operating range restricting device for an aerial work vehicle according to the present invention is configured as follows. A base end portion of a shape-changeable boom 4 having a worktable 5 attached to a distal end portion is mounted on a swivel base 3 mounted on the vehicle 1 so as to be capable of swiveling operation, and protrudes to the front, rear, right and left positions of the vehicle 1. An operating range restricting device for an aerial work vehicle, comprising outriggers 2a to 2d that can be grounded, a turning position detecting means 9 for detecting a turning position of a swivel, and an overhang length for detecting an overhang length of each outrigger. Detecting means 10a to 10d, boom undulation angle detecting means 11 for detecting a boom undulation angle, shape change detecting means 12 for detecting a boom shape change state, and receiving a detection signal from each of the above detecting means, and raising and lowering operation of boom 4 A control signal output unit 13 for outputting a control signal to the control device 7 and the boom shape changing operation control device 8;
Based on the actual overhang amount of 2d and the actual turning position of the turntable 3, the allowable operating range of the worktable 5 is selected, and the actual worktable obtained from the actual undulation angle and the shape change state of the boom 4 is determined. Workbench 5 whose position is selected
The control signal is output when trying to deviate from the allowable operation range of the boom 5 and the shape changing operation of the boom 5 is controlled in a direction to promote the departure. The output unit 13 contributes to ensuring the stability of the side area in which the turning position of the turntable 3 is in the right or left side area of the vehicle 1 in the operation allowable range selected in the regulation signal output unit 13. The side area operation allowable range selected when at least one of the outriggers before and after the movement is less than a predetermined overhang width is
Work at height characterized by having a substantially horizontal workbench height limit line lower than the maximum height of the workbench 5 that can be reached mechanically by the raising and lowering operation and the shape changing operation of the boom 4 Vehicle operating range control device.

[0027]

The working range restricting device for an aerial work vehicle according to the present invention having the above-mentioned structure is characterized in that the swivel base 3 is located in the right or left side region and at least the front and rear auritoga which contribute to ensuring the stability of the side region. The right or left side operation allowable range selected when one of them is less than the predetermined overhang length is substantially lower than the maximum height of the worktable 5 that can be reached mechanically by the up-down operation and the shape changing operation of the boom 4. Since the work table 5 is set as having the horizontal work table height limit line, the height of the work table 5 in the permissible range of the right or left side region operation is regulated by the limit line.

For this reason, the overturning moment due to the wind in the right or left side operation allowable range provided with the height limit line is the right or left side area selected when the outriggers 2a to 2d are set to the maximum overhang length. Operating tolerance 1
Workbench 5 at 6a or 17a (without height limit line)
Is significantly smaller than the overturning moment due to the wind generated when the height of the vehicle is maximized, and as a result, the useable wind power of the aerial work vehicle can be set large. Therefore, it is possible to improve the working capacity in the use state of the typical aerial work vehicle, that is, in the use state in which the auritoga 2a to 2d is set to the maximum overhang length.

[0029]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of an apparatus for restricting the working range of an aerial work vehicle according to the present invention; The operation range restricting device A for an aerial work vehicle according to the present invention includes an operation allowable range (a front range operation allowable range 14, a rear range operation allowable range 15, and a right side range operation allowable range 16a) selected by the restriction signal output unit 13. ~ 1
6c, the left side range operation allowable range 17a to 17c)
The turning position of the turntable 3 is in the right side area or the left side area of the vehicle 1 and the outriggers 2b, 2c or 2 before and after contributing to ensuring the stability of the side area or the side area.
The lateral region operation allowable range selected when at least one of a and 2d is smaller than the predetermined overhang width is larger than the maximum height of the worktable 5 that can be mechanically reached by the up-down operation and the shape change operation of the boom 4. It is characterized in that it is set as having a low, substantially horizontal workbench height limit line, and the corresponding lateral area operation allowable range will be described with reference to FIGS. 1 and 2. Regarding other configurations and operations of the operation range restricting device A, those described as the above-described conventional technology are used.

FIG. 1 shows the allowable operating ranges (the front operating range 14, the rear operating range 15, the right operating range 16a to 16c, and the right operating range 16) selected by the restriction signal output unit 13 of the operating range restricting device A. Of the left side operation allowable ranges 17a to 17c), the right side operation allowable range 16a
16 to 16c. These right side operation allowable range 1
Reference numerals 6a to 16c denote work table heights to be described later in a right range operation allowable range 16c selected when at least one of the front and rear outriggers 2b and 2c contributing to stability in the right side region is smaller than the intermediate overhang length. The only difference from the right-side operation allowable range 16a to 16c described above as the related art is that the limit range P is set.

The work table height limit line P provided in the right side range operation allowable range 16c is substantially lower than the maximum height of the work table 5 that can be reached mechanically by the up / down operation and the shape changing operation of the boom 4. This is a horizontal limit line, which restricts the operation range of the worktable 4 to be within the right side operation allowable range 16c lower than the worktable height restriction line P.

FIG. 2 shows the allowable operating ranges (the front operating range 14, the rear operating range 15, the right operating range 16a to 16c, and the right operating range 16) selected by the restriction signal output unit 13 of the operating range restricting device A. Of the left side operation allowable ranges 17a to 17c), the left side operation allowable range 17a
17 to 17c. These left side operation allowable range 1
7a to 17c are work table heights to be described later in a right range operation allowable range 17c selected when at least one of the front and rear outriggers 2a and 2d contributing to stability in the left side region is smaller than the intermediate overhang length. Only in that it is set as having the limit line P, it is different from the left side operation allowable range 17a to 17c described above as the related art.

The workbench height limit line P provided in the left side operation allowable range 17c is substantially lower than the maximum height of the workbench 5 that can be mechanically reached by the up / down operation and the shape changing operation of the boom 4. This is a horizontal limit line that restricts the operating range of the worktable 4 to a left side operation allowable range 17c lower than the worktable height limit line P.

In the above-described embodiment, the right side operation allowable range 16c and the left side operation allowable range 17c selected when at least one of the front and rear outriggers contributing to stability is smaller than the intermediate overhang width are set on the workbench. Although it is set as having the height limit line P, the right-side operation allowances 16b and 16c and the left-side operation allowance selected when at least one of the outriggers before and after contributing to stability are smaller than the maximum overhang length. The ranges 17b and 17c may be set as having a workbench height limit line. In short, the operating range restricting device for an aerial work vehicle according to the present invention is configured such that the turning position of the turntable 3 is in the right or left side region of the vehicle 1 in the operating allowable range selected in the restricting signal output unit 13. And when at least one of the outriggers before and after that contributes to ensuring the stability of the side area is smaller than a predetermined overhang width, the side area operation allowable range selected is the up / down operation and the shape changing operation of the boom 4. In this case, the height may be set as having a substantially horizontal workbench height limit line lower than the maximum height of the workbench 5 that can be reached mechanically.

[0035]

As described above, the turning position of the turntable 3 is in the right or left side area of the vehicle 1 and at least one of the outriggers before and after contributing to ensuring the stability of the side area is smaller than a predetermined overhang width. A work area having a substantially horizontal work table height limit line in which the allowable operation range of the side area sometimes selected is lower than the maximum height of the work table 5 that can be mechanically reached by the raising and lowering operation and the shape changing operation of the boom 4. The working range restricting device for an aerial work vehicle according to the present invention, which is set as above, can set the use limit wind force of the aerial work vehicle to be large. Therefore, it is possible to improve the working capacity in the use state of the typical aerial work vehicle, that is, in the use state in which the auritoga 2a to 2d is set to the maximum overhang length.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a right-side operation allowable range of an operation range restricting device for an aerial work vehicle according to the present invention.

FIG. 2 is an explanatory diagram of a left side operation allowable range of the operation range restricting device for an aerial work vehicle according to the present invention.

FIG. 3 is an explanatory view of an aerial work vehicle.

FIG. 4 is an explanatory view of a basic configuration of a conventional operation range restricting device for an aerial work vehicle.

FIG. 5 is an explanatory diagram of a front range operation allowable range of a conventional operation range control device.

FIG. 6 is an explanatory diagram of a rear range operation allowable range of a conventional operation range control device.

FIG. 7 is an explanatory diagram of a right side operation allowable range of the conventional operation range restricting device.

FIG. 8 is an explanatory diagram of a left-side operation allowable range of the conventional operation range control device.

FIG. 9 is an explanatory diagram showing a turning area of the turning table.

[Brief description of reference numerals]

1; vehicle, 2a to 2d; outrigger, 3; swivel, 4;
Boom, 5; work table, 6; turning operation control device, 6a; drive actuator, 6b; operation control unit, 7; undulation operation control device, 7a; drive actuator, 7b; operation control unit, 8; Control device, 8a; drive actuator, 8b; operation control unit, A;
9: turning position detecting means, 10a to 10d; overhang length detecting means, 11; boom undulation angle detecting means, 12; shape change detecting means, 13; regulation signal output section, 14; Limit control line, 15; rear range operation allowable range, R: stability limit control line, 16a to 16c; right side operation allowable range, Ra to Rc: stability limit control line,
17a to 17c: left side operation allowable range, Ra to R
c: stability limit regulation line, B: operable range that is mechanically allowable, front region, right region, rear region, left region,

Claims (1)

[Claims] 1. A base end of a shape-changeable boom 4 having a worktable 5 attached to a distal end thereof is mounted on a swivel base 3 mounted on a vehicle 1 so as to be capable of turning operation, and is capable of undulating operation.
An operating range restricting device for an aerial work vehicle, comprising outriggers 2a to 2d that can extend and touch the front, rear, left and right positions of the vehicle 1, and includes turning position detecting means 9 for detecting a turning position of the swivel 3; Overhang length detecting means 10a to 10d for detecting overhang length of ~ 2d;
1. Shape change detecting means 1 for detecting a shape change state of the boom 4
2. A control signal output unit 13 which receives a detection signal from each of the detection means and outputs a control signal to an up / down operation control device 7 of the boom 4 and a shape change operation control device 8 of the boom, and outriggers 2a to 2d. Based on the actual overhang amount and the actual turning position of the swivel table 3, the allowable operating range of the work table 5 is selected, and the actual work table position obtained from the actual undulation angle and the shape change state of the boom 4 is determined. ,
When the operator attempts to deviate from the permissible operating range of the worktable 5 according to the selection, the control signal is output to restrict the up / down operation of the boom 4 and the operation of changing the shape of the boom in a direction to promote the deviation. In the control signal output unit 13, the turning position of the turntable 3 is in the right or left region of the vehicle 1 and in the side region of the operation allowable range selected in the regulation signal output unit 13. Outrigger 2 before and after that contributes to ensuring stability
Work in which the lateral area operation allowable range 16c or 17c selected when at least one of b, 2c, 2a, and 2d is smaller than the predetermined overhang width is mechanically reachable by the up / down operation and the shape changing operation of the boom 4. An operating range restricting device for an aerial work vehicle, wherein the operating range restricting device is set as having a substantially horizontal workbench height limit line P lower than the maximum height of the workbench.