JP2002241100A - Operating range control device for boom-type working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To propose an operating range control device for a boom-type working vehicle provided with a telescopic boom composed of upper and lower two booms, under the consideration that though an operating range of the telescopic boom in a conventional vehicle is controlled by AWL or SML, but the boom can not reach the maximum operating range even though the operating range has allowance in the AWL control and the labor hour for making up the operation is needed in the AML control. SOLUTION: In the boom-type working vehicle provided with telescopic lower boom 2 and upper boom 3, the operating range of the lower boom is operated and controlled by a lower operating means 5 on the basis of an upper boom virtual rated moment value, a lower boom length detection value, and a lower boom derricking angle detection value under the assumption that the inverting moment of the upper boom becomes a constant value at a dangerous side, and the operating range of the upper boom is controlled independently from the control of the lower boom by operating the moment around a support of the upper boom, by an upper operating means 6 on the basis of the upper boom derricking angle detection value and the upper boom load detection value, whereby the operating range of the telescopic boom can be enlarged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom-type work vehicle such as an aerial work vehicle and a crane vehicle, and more particularly, to a boom-type work vehicle using a bending and extending boom composed of a lower boom and an upper boom. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation range control device that automatically restricts a boom-related operation when a bending / extension boom reaches a preset dangerous side posture during a boom-related operation.

[0002]

2. Description of the Related Art For example, in an aerial work vehicle, in order to expand the working range (height and working radius) at a high place, a conventional bending and stretching method comprising a lower boom 2 and an upper boom 3 as shown in FIG. There is one that employs the expression boom 1.

The aerial work vehicle shown in FIG.
1, a swivel base 13 is provided so as to be horizontally swivelable, a telescopic lower boom 2 is provided on the swivel base 13 so that it can be raised and lowered, and a telescopic upper boom 3 is provided at the tip of the lower boom 2 so as to be able to bend and extend. At the tip of the boom 3, there is provided a work table 4 on which an operator is mounted or various materials are loaded. In the aerial work vehicle of FIG. 4, the lower boom 2 is configured by connecting five single booms,
The upper boom 3 is configured by connecting four single booms.
The work table 4 can be lifted from the ground to a considerable height (for example, a height of about 70 to 90 meters). In addition, in the bending / extending boom 1 of this kind, the weight of the lower boom 2 is usually designed to be considerably larger than the weight of the upper boom 3 in terms of strength (for example, thickness) and the number of single booms used. I have.

[0004] The swivel 13 on the vehicle 11 is horizontally turned by a swivel motor. The lower boom 2 is an undulating cylinder 2
1 allows it to be raised and lowered in the vertical plane and to be expanded and contracted by a telescopic cylinder built in the lower boom. The upper boom 3 is raised and lowered in the vertical plane by a bending and stretching cylinder 31 at the lower boom tip, and is expanded and contracted by a telescopic cylinder built in the upper boom. The worktable 4 is always maintained in a horizontal posture by the leveling device 41 at the top end of the upper boom.

[0005] The lower boom 2 is provided with a lower boom length detector 22 for detecting the length of the lower boom, and a lower boom undulation angle detector 23 for detecting the undulation angle of the lower boom. In addition, a lower boom load detector 24 that detects a load applied to the lower boom 2 is provided in a portion of the up / down cylinder 21 for the lower boom 2.

[0006] The upper boom 3 is also provided with an upper boom length detector 32 for detecting the length of the upper boom and an upper boom undulation angle detector 33 for detecting the undulation angle of the upper boom. The bending / stretching cylinder 31 for the upper boom 3 is provided with an upper boom load detector 34 for detecting a load applied to the upper boom 3.

In an aerial work vehicle using this type of bending and extending boom 1, the work table 4 is located at the same position in the aerial position.
The degree of undulation / extension of the lower boom 2 and the degree of undulation /
By combining elongation degrees, it is possible to select from many variations. When the work table 4 is located at the same position in a high place, the work radius side is
The lower boom 2 with a heavy weight is greatly lowered (the upper boom 3 having a relatively light weight is raised), and the lower boom 2 is relatively lowered with a large weight (the lower boom 2 is relatively raised). ), The moment around the fulcrum 20 of the lower boom 2 becomes smaller, and on the height direction side, the lower boom 2 with a large weight is greatly extended (the upper boom 3 which is relatively light).
The lower boom 2 has a property that the moment around the fulcrum 20 of the lower boom 2 becomes smaller when the upper boom 3 is lightly extended (the lower boom 2 is relatively heavy).

By the way, in a boom-type work vehicle (for example, an aerial work vehicle) using this kind of bending-extension boom 1, when the bending-extension boom reaches a preset danger-side posture at the time of boom-related work, the boom-related work is stopped. An operation range control device is provided which automatically restricts the operation (restricts operation to the dangerous side).

As a working range control device for a boom type working vehicle using the bending / extending boom 1, a so-called AWL control system shown in FIGS. 4 and 5 (first conventional example), FIGS. There is a system employing a so-called AML control system shown in FIG. 7 (second conventional example).

FIGS. 4 and 5A show an operating range control device.
In the apparatus adopting the WL control method (the first conventional example), the control device controls the limit posture data value of the bending / extending boom 1 under the condition that it is assumed that the allowable loading load W is loaded on the work table 4. Is stored in the limit posture data value storage means 8C. For example, if the load capacity of the work table 4 is 1 ton,
Assuming that a load W of 1 ton is always loaded on the work table 4 in anticipation of safety, the limit posture data value of the bending / extending boom 1 (the length and the undulating angle of the lower boom 2 and the upper boom 3) Each limit posture data value based on each combination of the length and the undulation angle is obtained, and the limit posture data value is stored in the limit posture data value storage means 8C. On the other hand, a lower boom length detection value from the lower boom length detector 22, a lower boom raising / lowering angle detection value from the lower boom raising / lowering angle detector 23, and an upper boom length detection value from the upper boom length detector 32. The value and the detected value of the upper boom angle from the upper boom angle detector 33 are calculated by the calculating means 7 of the control device to obtain the current attitude data value (actual attitude data value) of the bending / extending boom 1. The actual attitude data value obtained by the calculating means 7 is compared with the limit attitude data value stored in the limit attitude data value storage means 8C by the comparing means 9, and the actual attitude data value reaches the limit attitude data value. Then, an operation restriction signal is issued from the output means 10 to the lower boom operation restriction means 51 and the upper boom operation restriction means 61, so that the dangerous operation of the lower boom 2 and the upper boom 3 is simultaneously prohibited. . For example, FIG.
In this case, if the bending / extension boom reaches the limit posture when the bending / extension boom is tilted from the state of reference numeral 1 to the state of reference number 1 ', the output from the comparing means 9 is made at the time when the bending / extension boom reaches the limit posture. Lower boom operation restricting means 5 through means 10
An operation restriction signal is issued simultaneously to the first and upper boom operation restriction means 61, so that neither the lower boom 2 nor the upper boom 3 can operate on the dangerous side.

FIGS. 6 and 7 show an operating range control device.
(A second conventional example) adopting the AML control method of
The limit moment value of the bending and extending boom 1 generated around the fulcrum 20 of the lower boom 2 is stored in advance in the limit moment value storage means 8D of the control device. On the other hand, a lower boom load detection value from the lower boom load detector 24 and various posture data values relating to the bending and extending boom 1 (a lower boom length detection value from the lower boom length detector 22, a lower boom undulation angle detector) 23 and the upper boom length detector 32
Boom length detection value from the upper boom undulation angle detector 3
3 is calculated by the calculating means 7 of the control device to obtain a moment (actual moment value) about the fulcrum 20 of the lower boom 2 at present. And
The actual moment value obtained by the arithmetic means 7 is compared with the limit moment value stored in the limit moment value storage means 8D by the comparing means 9, and when the actual moment value reaches the limit moment value, the lower boom is output from the output means 10. An operation restricting signal is issued to the operation restricting means 51 and the upper boom operation restricting means 61 at the same time, so that neither the lower boom 2 nor the upper boom 3 can operate on the dangerous side.

As described above, in the operating range control device shown in FIGS. 6 and 7 (second conventional example), the moment values around the fulcrum 20 of the lower boom 2 are compared, and the bending and stretching type boom 1 is operated by the AML control system. Although the range is restricted, in the case of the second conventional example, a large operating range can be obtained if the load on the work table 4 is small, and the weight is large even if the load is the same. The maximum working range (the range in which the restriction is imposed) differs depending on the respective postures (extended and retracted lengths and undulation angles) of the lower boom 2 and the lightweight upper boom 3. For example, in the example of FIG. 6, the bending / extending boom 1 is subjected to AML regulation in each of the positions 1 ′ and 1 ″ (the actual moment value reaches the limit moment value), and the lower boom and the upper boom are moved further. Although it cannot operate on the dangerous side, the lower boom (2 ', 2 ") and the upper boom (3',
The position of the workbench (4 ', 4 ") differs depending on each limit posture of 3").

[0013]

In the operating range control device shown in FIGS. 4 and 5 (first conventional example), the bending / extension type boom 1 stored in the limit posture data value storage means 8C of the control device is used. The limit posture data value is calculated based on the condition that it is assumed that the tolerable load W is loaded on the work table 4.
Since the working radius of the working table 4 is determined by adopting the WL control method, the bending radius of the bending and stretching type boom 1 is set to a predetermined limit posture (for example, reference numeral 1 'in FIG. 4) regardless of the load W on the working table 4. In this position, the working radius at this time can be obtained only up to R). The load on the work table 4 is lighter than the allowable limit load (for example, 1 ton) (for example, the weight of W 'is 0.5 ton).
, The moment around the fulcrum 20 of the lower boom 2 becomes smaller, and the bending and extending boom 1 moves the upper boom 3 ′ from the set limit posture of the reference 1 ′ to the upper boom 3 ′, for example, by a position indicated by a dotted line 3 ′ (work on the dangerous side). there is a case where the radius is acceptable in terms of safety even killing until just enlarge) R _1, the first in the conventional example operating range control device, also live load to the work table 4 is a light-weight, maximum There is a problem that the working radius is limited to the range R.

In the operating range control device shown in FIGS. 6 and 7 (second conventional example), the moment values around the fulcrum 20 of the lower boom 2 are compared, and the bending and extension boom 1 is controlled by the AML control system.
However, in the case of the second conventional example, for example, the bending / extending boom is in the posture indicated by reference numeral 1 in FIG. 6 (the lower boom 2 is in the fully extended state, and the upper boom 3 is in the fully retracted state). When the working radius position and the height position of the worktable 4 are respectively increased from the maximum raising posture (for example, when the work table 4 is moved to the position indicated by reference numeral 4 "), only the lower boom 2 is lowered.
When the lower boom is in the position of 2 ', the actual moment value around the lower boom fulcrum 20 is stored in the limit moment value storage means 8D.
At which point the movement of the lower boom 2 'and the upper boom 3' to the dangerous side is prohibited, and the workbench 4 'cannot be moved further to the dangerous side. There was a problem. When the bending / extending boom 1 is to be moved from the position indicated by reference numeral 1 '(the position of the worktable is denoted by reference numeral 4') to the position indicated by a dotted line and denoted by reference numeral 4 "(the position where the work radius and height are far from each other), First, the lower boom is returned from the position indicated by reference numeral 2 'to the position indicated by reference numeral 2 "shown by a dotted line to enable the danger-side operation of the upper boom, and thereafter, the upper boom is extended and lowered as indicated by reference numeral 3", and the work table is lowered. Must be moved to the position indicated by reference numeral 4 ″. Therefore, in the second conventional example shown in FIGS. 6 and 7, if the operation order of the lower boom 2 and the upper boom 3 is wrong, it takes time and time to repair them.

In the operating range control devices shown in FIGS. 6 and 7, both the lower boom 2 and the upper boom 3 may be controlled by the AML control method. In this case, the operating range of the bending / extending boom 1 can be set to be the widest. However, even when the upper and lower booms 2 and 3 are controlled by the AML control method in this manner, the upper boom 3 is in a posture where there is a margin to the limit. If the lower boom 2 is set to the limit posture, the upper boom 3 cannot be operated to the operation range expansion side. Therefore, in order to reach the maximum operation range of the bending / extending boom 1, it is necessary to raise or lower the lower boom 2 from the regulation state and then to lower or extend the upper boom 3. Become. In this manner, in the case where both the upper and lower booms 2 and 3 are controlled by the AML control method, the condition numbers relating to the calculation of the overturning moment on the upper boom 3 side (the upper boom length, the upper boom up / down angle, and the upper boom tip end portion (The number of combinations of loads and the like) becomes extremely large, and as a result, the load on the storage means and the calculation means of the control device becomes large, which is disadvantageous in terms of calculation speed and cost.

The present invention has been made in view of the problems of the above-described conventional examples in a boom type working vehicle using a bending / extension type boom. The primary objective is to be able to extend the working range of the bending and extending boom by allowing the boom to be actuated to the dangerous side further to the permissible limit, and to further increase the working range of the bending and extending boom. A second object of the present invention is to make it easy to perform a boom storing operation in an apparatus which can be enlarged.

[0017]

The present invention has the following structure as means for solving the above-mentioned problems. still,
The present invention relates to a boom-type work vehicle such as an aerial work vehicle or a crane truck, in which an operation range in which a boom-related operation is automatically restricted when the boom reaches a preset dangerous position during a boom-related operation. It is intended for control devices. The boom type working vehicle used in the invention according to the first aspect of the present invention includes a traveling vehicle, a swivel provided on the vehicle so as to be able to turn horizontally, and an up-and-down provided on the swivel. A telescopic lower boom and an upper boom provided at the tip of the lower boom so as to be able to flex and extend in a vertical plane are employed. In the description of the present application, the lower boom and the upper boom are collectively referred to as a bending-extension boom.

In a boom type working vehicle using a bending and extending boom, the lower boom is generally designed to have much higher rigidity than the upper boom (for example, the lower boom is much thicker), and the number of booms is lower. It is customary that there is more than the upper boom. Therefore, the weight of the lower boom is usually much heavier than the weight of the upper boom.

When an aerial work vehicle is employed as the boom type work vehicle, a work table for mounting an operator or loading various materials is provided at the tip of the upper boom. When a crane truck is used as the boom type work vehicle, a hanging hook is provided at the tip of the upper boom.

The lower boom has a lower boom length detector for detecting the length of the lower boom, and a lower boom undulation angle detector for detecting the undulation angle of the lower boom. The upper boom includes an upper boom undulation angle detector for detecting an undulation angle of the upper boom, and an upper boom load detector for detecting a load acting on the upper boom.

In the operating range control device according to the first aspect of the present invention, the lower boom limit obtained by using the upper boom virtual rated moment value when it is assumed that the upper boom side overturning moment has a constant value on the dangerous side. The attitude data value is stored in the lower boom limit attitude data value storage means. Note that the upper boom virtual rated moment value is, for example, if the boom type work vehicle is a high place work vehicle, assuming that the load on the work platform has become a constant value on the dangerous side, and that the upper boom has strength or overturn. An overturning moment value on the upper boom side when falling down to the limit is obtained in advance, and is set as an upper boom virtual rated moment value. Also, if the boom type work vehicle is a crane truck,
Assuming that the load of the suspended load suspended from the top end of the upper boom has become a constant value on the dangerous side, and obtain the overturning moment value on the upper boom side when the upper boom has fallen down to the limit of strength or overturning, Is set as the upper boom virtual rated moment value. This upper boom virtual rated moment value is stored in the upper boom virtual rated moment storage device. or,
This upper boom virtual rated moment memory may be incorporated in the control device.

In the first aspect of the present invention, the upper boom virtual rated moment value is not particularly limited, but the upper boom side moment can be set to, for example, about 70 to 80% of a limit moment value at which an allowable limit is set. . Also, a plurality of upper boom virtual rated moment values are set in accordance with the magnitude of the load applied to the upper boom tip (for example, 50%, 70%, 90%, etc. of the limit moment value). You may make it select from the boom virtual rated moment values according to the load at the time of the work actually performed. That is, the load applied to the top end of the upper boom differs for each type of work, and when the upper limit of the actual load to be actually mounted at the time of work is roughly determined, the load is selected from among the multiple upper boom virtual rated moment values. You may make it select what matches a load.

In the operation range control device according to the first aspect of the present invention, the upper boom limit moment value around the upper boom fulcrum is stored in the upper boom limit moment value storage means.

In the operating range control device according to the present invention, the operating range of the lower boom and the operating range of the upper boom are individually controlled as follows.

First, the operation range of the lower boom is controlled by a so-called AWL control method. In the lower operation means, a lower boom length detection value from a lower boom length detector and a lower boom undulation angle detector are used. The actual posture data value of the lower boom is calculated based on the detected lower boom undulation angle, and the actual posture data value of the lower boom is stored in advance in the lower boom limit posture data value storage means. When the value is reached, the lower boom is restricted so that it cannot be moved to any more dangerous side (lower boom lower side and lower boom extension side). still,
As described above, when a plurality of upper boom virtual rated moment values are set, by selecting from a plurality of upper boom virtual rated moment values according to the type of work (load magnitude), The operating range of the lower boom can be extended to the maximum range corresponding to the actual load applied to the tip of the upper boom.

On the other hand, the operating range of the upper boom is the so-called AML
This is performed by a control method, and is controlled independently of the control of the lower boom. In the control of the operating range of the upper boom, the upper computing means controls the upper boom based on the detected upper boom angle from the upper boom angle detector and the detected upper boom load from the upper boom load detector. The actual moment value is calculated, and when the actual moment value of the upper boom reaches the upper boom limit moment value stored in advance, the upper boom is restricted so that it cannot be operated on a more dangerous side (upper boom falling side). .

In the operating range control device according to the first aspect, the lower boom is controlled by the AWL control method as described above. Therefore, the maximum operating range of the lower boom is determined by various conditions on the upper boom side (the upper boom tip). Irrespective of the applied load or the upper boom undulation angle), it is limited to the set predetermined range (the limit posture data value of the lower boom). The maximum operating range of the lower boom does not impair the safety of the entire boom-type work vehicle even if the various conditions on the upper boom side are the most dangerous with respect to the working range.

On the other hand, since the upper boom is controlled by the AML control method independently of the operation range control of the lower boom as described above, if the lower boom reaches the limit position of the operation range, there is a danger of the lower boom. Even after the side operation is restricted, if there is a margin in the moment on the upper boom side, the upper boom can be operated to the enlarged working range side until the upper boom side reaches the limit moment. In the case of this type of boom type working vehicle (aerial work vehicle or crane truck), if the load applied to the top end of the upper boom is smaller than the rated load, the lower boom is not used in the first conventional example shown in FIGS. When the upper boom reaches the limit position, the upper boom can not be operated further to the working range expansion side even if there is room on the expanded operation range side of the upper boom, but in the present application, even after the lower boom reaches the limit position, , The operating range of the upper boom can be moved to the limit range on the enlarged side. In this way, even if the working range of the lower boom and the upper boom is extended to the respective limit ranges, the overturning moment of the entire boom type working vehicle does not exceed the safe range.

Further, in the operating range control device according to the first aspect of the present invention, even if the operation is performed without being conscious of the combination of the respective postures of the lower boom and the upper boom, the operation is controlled according to the magnitude of the load applied to the tip of the upper boom. It can always reach the maximum working range. That is, in the lower boom and the upper boom, even after operating any of the booms to the limit range first, the other booms can also be operated to the limit range. According to a second aspect of the present invention, in the operation range control device for a boom type work vehicle according to the first aspect, the posture maintaining member is provided at the tip end of the lower boom, and the posture maintaining member is horizontally pivotable. An upper boom swivel is provided, and the upper boom is mounted on the upper boom swivel so as to be able to move up and down.

The posture maintaining member is always maintained in a constant posture (horizontal posture) by the leveling device even if the angle of elevation of the lower boom changes. The upper boom swivel is horizontally rotated on the attitude maintaining member, so that the upper boom attached to the upper boom swivel can be horizontally rotated.

According to the second aspect of the present invention, in the operation range control device according to the first aspect, when the working member (working table or hanging load hook) at the tip of the upper boom is horizontally rotated while working at a high place. In addition, only the short and small upper boom can be horizontally swiveled while keeping the long and heavy lower boom as it is. In this way, if only the upper boom is turned, the turning radius of the working member at the tip of the upper boom becomes smaller and the moving distance becomes smaller than in the case where the lower boom is turned.
The work member can be finely operated (adjustment at the time of positioning becomes easy), and the power can be reduced because the boom does not need to be moved under a large weight. According to a third aspect of the present invention, in the operating range control device for a boom type work vehicle according to the second aspect, the upper boom turning position detector for detecting a turning position of the upper boom with respect to the lower boom tip is provided. When calculating the operating range of the upper boom, the upper calculating means calculates using the upper boom turning position detected value detected by the upper boom turning position detector.

By the way, the strength and rigidity of the lower boom are designed to be the strongest in the lower boom falling direction, and in the bending and stretching type boom, the upper boom is horizontally moved from the lower boom undulating surface with respect to the lower boom. When located at a position displaced by an angle of 90 °, the lower boom has the property of having the lowest strength and rigidity. In the case where the upper boom is horizontally turned at the tip of the lower boom as in claim 3 of the present application, there is a background that the limit moment that the lower boom can withstand changes depending on the turning position of the upper boom.

In view of such circumstances, the operating range control device according to the third aspect of the present invention uses the detected value of the upper boom turning position from the upper boom turning position detector when calculating the operating range of the upper boom. When the upper boom is displaced in the horizontal direction from the lower boom surface, the limit operation range of the upper boom can be limited (reduced) in consideration of the displacement amount. With this configuration, in a configuration in which the upper boom is turned horizontally at the tip of the lower boom, the position of the upper boom is weak relative to the strength and rigidity of the lower boom (for example, a displacement of 90 ° in the horizontal direction from the lower boom surface). The lower boom can be protected by restricting the maximum operation range of the upper boom side to the reduction side (for example, restricting the operation of the upper boom falling side). The invention of claim 4 of the present application is the invention according to any one of claims 1 to 3 above.
In the operating range control device, the upper boom uses a telescopic type, and an upper boom length detector for detecting the length of the upper boom is provided. The calculation is also performed using the upper boom length detection value detected by the upper boom length detector.

When the upper boom is telescopic, the operating range of the top end of the upper boom can be expanded. In this case, the moment generated on the upper boom side varies depending on the degree of extension of the upper boom. Then, as in claim 4 of the present application, if the moment generated on the upper boom side is calculated in consideration of the data value (upper boom length detection value) relating to the upper boom length, the upper boom is of a telescopic type. However, the maximum operation range of the upper boom can be controlled to a safe range. Invention of claim 5 of the present invention
In the operating range control device of the item, the upper boom virtual rated moment value is set to a value when it is assumed that the overturning moment on the upper boom side becomes the maximum on the dangerous side.

According to the fifth aspect, the virtual upper rated value of the upper boom, which is one element for controlling the operating range of the lower boom, is calculated based on the assumption that the overturning moment on the upper boom side becomes the maximum on the dangerous side. Because the upper boom reaches the maximum descent position on the danger side during actual work and the load applied to the tip of the upper boom reaches the maximum allowable limit, the operating range of the lower boom is always safe. Limited to range. The invention of claim 6 of the present application is the invention according to any one of claims 1 to 5 above.
In the operation range control device according to the above item, the second limit posture data value of the lower boom obtained using the upper boom second virtual rated moment value smaller than the upper boom virtual rated moment value is used as the lower boom second limit posture data value. When the attitude of the upper boom is within a predetermined range of the storage attitude, the operating range of the lower boom is stored in the lower boom second limit attitude data value storage means. The second limit posture data value is selected, and the lower boom actual posture data value is compared with the lower boom second limit posture data value so as to be controlled.

The operating range control device according to the present invention controls the operating range of the lower boom when the bending / extension type boom is stored from the operating position. The operation is performed in a state where there is almost no load acting on the vehicle. In other words, the load applied to the top end of the upper boom during the storage operation is a light load such that several workers are on the work table for a high-altitude work vehicle, and a load Light load of hook only.

The upper boom second virtual rated moment value is set, for example, by setting the load applied to the tip of the upper boom to “0”.
In this state, when the upper boom is in the posture state where the upper boom is on the safest side, the lower boom second limit posture data value can be made larger (the operation range of the lower boom can be made larger). The selection between the lower boom limit posture data value during normal work and the lower boom second limit posture data value during storage work may be performed by a manual selection switch.
Alternatively, as a result of calculation by the upper calculation means based on the detection value from the detector for detecting the posture of the upper boom, when the posture of the upper boom is determined to be within the predetermined range on the storage posture side, the selection means automatically lowers the posture. The boom second limit posture data value may be selected.

In the operating range control device according to the present invention, when the lower boom second limit posture data value is selected while the posture of the upper boom is within the predetermined range of the storage posture, the lower boom is moved to the lower position. The limit operating range can be larger than the lower boom operating range during normal operation. Therefore, when storing the bending / extension type boom, it is possible to lower the lower boom to a lower position (for example, to a substantially horizontal posture). still,
When retracting the bending / extending boom, the lower boom is caused to fall down to a substantially horizontal posture. In this case, the lower boom is caused to fall down in a fully contracted state in which the overturning moment is minimized. The invention of claim 7 of the present application is the invention according to any one of claims 1 to 5 above.
In the operation range control device of the item, when the postures of the lower boom and the upper boom are within a predetermined range on the storage posture side, the control of the operation range of the lower boom can be released.

An operating range control device according to a seventh aspect of the present invention is intended to prevent the operating range of the lower boom from being restricted when the bending / extending boom is stored from the use posture.
When the postures of the lower boom and the upper boom are within a predetermined range on the storage posture side, for example, each detector for manually releasing the control of the lower boom operation range by a release switch, or detecting the posture of the lower boom and the upper boom. When the lower boom and upper boom are calculated to be within the predetermined range on the storage posture side as a result of calculations performed by the lower calculation means and the upper calculation means based on the detection values from, the control of the lower boom operation range is automatically released. You may be made to be able to make it.

The expression "the lower boom position is within a predetermined range on the retracted position side" means a state in which the lower boom is reduced to a length range in which there is no danger of falling even if the lower boom is turned down in this position. The undulation angle of the lower boom is not particularly limited. Also, "the upper boom posture is within a predetermined range on the storage posture side" means a state in which the overturning moment on the upper boom side is reduced to within a predetermined range.

In the operating range control device according to the present invention, when the lower boom and the upper boom satisfy the above condition and the control of the lower boom operating range is released during the retracting operation of the bending / extending boom, Even if the lower boom is controlled by the AWL control method, the lower boom can be operated to the storage side (downside and reduction side) beyond the range controlled by the AWL. In addition, it is preferable to control the extension operation of the lower boom to be prohibited even when the control of the lower boom operation range is released.

[0042]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An operating range control device for a boom type working vehicle according to an embodiment of the present invention will be described below with reference to FIGS. The operating range control device according to the present invention is used for a boom type working vehicle such as an aerial working vehicle and a crane truck. In the embodiment of the present application, the boom type working vehicle shown in FIG. Cars are adopted.

Although the aerial work vehicle shown in FIG. 1 has many portions overlapping the conventional one shown in FIG. 4, a swivel 13 is provided on a traveling vehicle 11 and the lower boom 2 is mounted on the swivel 13. And a bending / extending boom 1 comprising an upper boom 3 and an upper boom 3
The work table 4 is provided at the tip of the.

When the aerial work vehicle is used, the vehicle 11 is supported by the outrigger 12. Further, the posture (extended state) of the outrigger 12 is detected by an outrigger posture detector, but this outrigger posture detector is not shown.

The swivel table 13 is horizontally swung by a swivel motor (not shown). The turning position of the turntable 13 is detected by a turning position detector, but this turning position detector is not shown.

The lower boom 2 is mounted on the swivel base 13 so as to be able to move up and down in a vertical plane. The lower boom 2 is raised and lowered by a lifting cylinder 21. Reference numeral 20 in FIG. 1 denotes a support shaft that pivotally supports the base end of the lower boom 2, and the support shaft 2 supports the lower boom 2 when the lower boom 2 moves up and down.
It becomes 0. In the aerial work vehicle shown in FIG.
It is configured by connecting single booms. This lower boom 2
Is extended and retracted by a telescopic cylinder built into the boom.

At the tip of the lower boom 2, a posture maintaining member 1 is provided.
4 are provided. The posture maintaining member 14 is provided with the lower boom 2.
, The leveling device 15 always maintains a constant posture (horizontal posture).

An upper boom swivel 16 is provided on the posture maintaining member 14 so as to be horizontally swivelable. The upper boom swivel 16 is also horizontally swung by a swivel motor (not shown).

The upper boom 3 is mounted on the upper boom swivel 16 such that it can be raised and lowered (bending and extending with respect to the lower boom 2) in a vertical plane. The upper boom 3 is raised and lowered by a bending and stretching cylinder 31. In the aerial work vehicle shown in FIG.
The upper boom 3 is configured by connecting four single booms.
The upper boom 3 is extended and contracted by a telescopic cylinder built in the boom.

At the distal end of the upper boom 3, there is provided a work table 4 on which a worker can be mounted and various materials are loaded. The worktable 4 is always maintained in a horizontal posture by the leveling device 41 even if the lower boom 2 or the upper boom 3 moves up and down. In the case where a crane truck is used as the boom type working vehicle, a hanging load hook is attached to the tip of the upper boom 3.

In the aerial work vehicle of the embodiment shown in FIG. 1, the workbench 4 is moved from the ground to a considerably high place (for example, by a bending / extending boom 1 (a lower boom 2 connected to five and an upper boom 3 connected to four)). 70-90 meters). The worktable 4 is operated in a three-dimensional direction by turning the swivel 13, raising and lowering the lower boom 2, extending and retracting the upper boom swivel 16, and raising and lowering the upper boom 3. It can be moved to the position. In addition, in the bending / extending boom 1 of this kind, the weight of the lower boom 2 is usually designed to be considerably larger than the weight of the upper boom 3 in terms of strength (for example, thickness) and the number of single booms used. I have.

The lower boom 2 is provided with a lower boom length detector 22 for detecting the length of the lower boom, and a lower boom undulation angle detector 23 for detecting the undulation angle of the lower boom. Note that the detectors 22 and 23 relating to the lower boom 2 are existing in this type of boom type working vehicle.

The upper boom swivel base 16 is provided with an upper boom swivel position detector 35 for detecting the direction (swing position) of the upper boom swivel base 16. The upper boom turning position detector 35 detects which direction of the horizontal turning direction the upper boom 3 is oriented based on the attitude of the lower boom 2.

The upper boom 3 is also provided with an upper boom length detector 32 for detecting the length of the upper boom, and an upper boom elevation angle detector 33 for detecting the elevation angle of the upper boom. or,
The bending / stretching cylinder 31 for the upper boom 3 is provided with an upper boom load detector 34 for detecting a load applied to the upper boom 3.

In an aerial work vehicle using this type of bending and stretching boom 1, the work table 4 is located at the same position in the aerial position.
The degree of undulation / extension of the lower boom 2 and the degree of undulation /
By combining elongation degrees, it is possible to select from many variations. Then, in order to position the work table 4 at the same position in a high place, regarding the work radius side,
The lightweight upper boom 3 is greatly lowered (the relatively heavy lower boom 2 is raised) than when the lower heavy boom 2 is greatly lowered (the relatively light upper boom 3 is raised). Is performed, the moment around the fulcrum 20 of the lower boom 2 becomes smaller, and on the height direction side, the lower boom 2 which is heavy is greatly extended (the upper boom 3 which is relatively lightweight is reduced). The moment when the lighter upper boom 3 is extended significantly (the lower boom 2 having a relatively large weight is contracted) becomes smaller, the moment around the fulcrum 20 of the lower boom 2 becomes smaller.

By the way, in the boom-type work vehicle (high-place work vehicle) of the embodiment of the present invention, when the bending / extending boom 1 reaches a preset dangerous side posture during the boom-related work, the boom-related operation is automatically restricted. There is provided an operation range control device that regulates (operation on the dangerous side). In this type of boom-type work vehicle, in order to control the operating range of the bending / extending boom 1 (the lower boom 2 and the upper boom 3), actually, the attitude data of the outrigger 12, the turning position data of the swivel 13 and the like are used. However, in the embodiment of the present invention, the description will be made ignoring the attitude data of the outrigger 12 and the turning position data of the swivel 13.

The operating range control device according to the embodiment of the present invention is shown in FIG.
As shown in FIG. 2, the operating range of the lower boom 2 and the operating range of the upper boom 3 are individually controlled as follows.

The operating range of the lower boom 2 is controlled by a so-called AWL control method. The lower boom length detection value detected by the lower boom length detector 22 and the lower boom detection angle detected by the lower boom undulation angle detector 23 are used. The lower boom actual posture data value calculated by the lower operation means 5 based on the detected undulation angle is compared with the lower boom limit posture data value stored in a lower boom limit posture data value storage means 8A described later. I try to control.

The upper boom virtual rated moment value is obtained in advance as follows. That is, if the boom-type work vehicle is a high-place work vehicle, it is assumed that the load on the workbench 4 has reached a certain value on the dangerous side, and the upper boom 3 is allowed to fall down to the limit of strength or overturning in the maximum extension state in the maximum extension state. The upper moment of the upper boom 3 is calculated, and the upper moment of the upper boom is used as the virtual rated moment of the upper boom. On the other hand, if the boom-type work vehicle is a crane truck, it is assumed that the load of the load lifted at the top end of the upper boom has reached a certain value on the dangerous side, and the upper boom is allowed to fall down to the limit of strength or overturn in the maximum extension state. The upper moment of the upper boom 3 is calculated, and the upper moment of the upper boom is used as the virtual rated moment of the upper boom. Then, the upper boom virtual rated moment value is stored in the upper boom virtual rated moment storage 38. The upper boom virtual rated moment value is not particularly limited, but is, for example, 70 to 80% of the limit moment value at which the moment on the upper boom 3 side becomes an allowable limit.
Or a value equal to the limit moment value (100%). The upper boom virtual rated moment storage 38 for storing the upper boom virtual rated moment value can be incorporated in the control device. If the upper boom virtual rated moment value is equal to the limit moment value (100%), the upper boom virtual rated moment memory 38 is stored in the limit posture data value storage means 8A (described later) in the control device. It can also be integrated into the device.

A plurality of virtual upper boom rated moment values are set in accordance with the magnitude of the load applied to the tip of the upper boom (for example, 50% of the critical moment value, 7%).
5%, 100%, etc.), and a value corresponding to the load at the time of the work actually performed may be selected from the plurality of virtual rated moment values of the upper boom. That is, the load applied to the top end of the upper boom differs depending on the type of work (for example, in the case of an aerial work vehicle, when a large load near the allowable limit load is loaded on the work table 4 or when several workers In some cases, the upper limit of the load to be loaded during work is roughly determined.If the upper limit of the upper boom virtual rated moment value is appropriate for the load, You may make it select. When a small value is selected as the upper boom virtual rated moment value, the limit operation range of the lower boom 2 is expanded. Conversely, when a larger value is selected as the upper boom virtual rated moment value, the limit operation range of the lower boom 2 is limited. The working range is reduced. When a small value (for example, 50%) of the upper boom virtual rated moment value is selected,
Although the limit operating range of the lower boom 2 is expanded, care must be taken to ensure that the load applied to the top end of the upper boom does not exceed the load allowed by the virtual rated moment value of the upper boom. On the other hand, when the maximum (100%) virtual rated moment value of the upper boom is selected, the limit operating range of the lower boom 2 is reduced, and the posture and the load on the upper boom 3 side are respectively maximized on the dangerous side. It does not impair safety. When a plurality of upper boom virtual rated moment values are set as described above, a selection switch is provided at an appropriate position on the work machine so that the upper boom virtual rated moment value to be applied can be selected by the selection switch. To

The control device includes a lower boom limit posture data value storage means 8A for storing the lower boom 2 side limit posture data value applied at the time of work, and a lower boom 2 side lower boom second side apply at the storage operation. A lower boom second limit attitude data value storage means 18 for storing two limit attitude data values and a selection means 19 for selecting which of these limit attitude data values to use are provided.

Lower boom limit attitude data value storage means 8A
Stores the lower boom limit posture data value for each posture (length and undulation angle) of the lower boom 2 based on the above-described upper boom virtual rated moment value in advance.

Lower boom second limit attitude data value storage means 1
Reference numeral 8 denotes a lower boom second limit posture for each posture (length and undulation angle) of the lower boom 2 based on an upper boom second virtual rated moment value smaller than the above-described upper boom virtual rated moment value in advance. Stores data values.

When the attitude of the upper boom 3 is within the predetermined range of the storage attitude, the selection means 19 stores the lower boom second limit attitude data value stored in the lower boom second limit attitude data storage means 18.
A limit posture data value can be selected. That is, in the embodiment of FIG. 2, each data value relating to the posture (length, undulation angle, turning position) of the upper boom 3 is stored in the upper boom length detector 32, upper boom undulation angle detector 33, upper boom turning position, respectively. It is always input from the detector 35 to the upper calculating means 6, and the upper calculating means 6 determines from the posture data values whether the posture of the upper boom 3 is within a predetermined range on the storage posture side. ing. In the boom type working vehicle of FIG. 1, the state in which the posture of the upper boom 3 is “within the predetermined range on the storage posture side” is, for example, a posture state in which the upper boom 3 is completely retracted as shown in FIG. Not only does the boom pivot position face the side opposite to the lower boom raising and lowering surface, and the upper boom is fully retracted and fully lowered, but also includes a posture state in which the overturning moment on the upper boom 3 side is reduced to a predetermined range. In the embodiment of FIG. 2, when the upper calculating means 6 determines that the attitude of the upper boom 3 is not within the above-mentioned "predetermined range on the storage attitude side", the selecting means 19 determines whether the lower boom limit attitude data value storing means 8A is in use. The stored lower boom limit posture data value is selected, and if the posture of the upper boom 3 is within the above-mentioned "predetermined range on the storage posture side", the upper operation means 6
Is determined, the signal is sent to the selection means 19, which selects the lower boom second limit attitude data value stored in the lower boom second limit attitude data value storage means 18. I have.

The control device also includes a lower boom limit attitude data value stored in the lower boom limit attitude data value storage means 8A (or a lower boom second limit attitude data value storage means 18).
A lower boom actual posture data value calculated by the lower operation means 5 and a lower boom actual posture data value calculated by the lower operation means 5. Output means 10A for outputting an operation restriction signal to the lower boom operation restriction means 51 when it is determined that the data has reached the boom limit posture data value (or the lower boom second limit posture data value). The basic configuration of the lower boom limit posture data value storage means 8A, the comparison means 9A, the output means 10A and the like is an existing one in a control device used in this type of boom type work vehicle.

In the control of the operating range of the lower boom 2 during the boom operation (when the selection means 19 selects the lower boom limit attitude data value stored in the lower boom limit attitude data value storage means 8A). The actual posture data value of the lower boom 2 based on the lower boom length detected value from the lower boom length detector 22 and the lower boom undulation angle detected value from the lower boom undulation angle detector 23 in the lower calculating means 5. Calculate,
When the actual posture data value of the lower boom 2 reaches the lower boom limit posture data value stored in advance in the lower boom limit posture data value storage means 8A, the lower boom 2 is moved to a more dangerous side (the lower boom extension side and the lower boom extension side). It is restricted so that it cannot operate on the lower boom (downside). That is, during the boom operation, data relating to the current posture of the lower boom 2 is input to the lower calculating means 5 every time, and the actual posture data value of the lower boom 2 is calculated there. On the other hand, the comparing means 9A constantly compares the actual posture data value of the lower boom 2 with the lower boom limit posture data value stored in the lower boom limit posture data value storage means 8A. When it is determined that the actual boom posture data value has reached the lower boom limit posture data value, an output restriction signal (a signal for inhibiting the dangerous operation of the lower boom 2 on the dangerous side) from the output means 10A to the lower boom operation restriction means 51. Output. When the boom is stored (the posture of the upper boom 3 is within the predetermined range on the storage posture side, and the selecting means 19 stores the lower boom second limit posture data stored in the lower boom second limit posture data storage means 18). The control of the lower boom operation range (when the value is selected) will be described later.

On the other hand, the operating range of the upper boom 3 is a so-called AM
The control is performed by the L control method, and is controlled independently of the control of the lower boom 2. The operating range of the upper boom 3 is determined by an upper boom length detection value detected by the upper boom length detector 32,
The moment (actual moment value) around the upper boom fulcrum 20 is calculated based on the upper boom hoist angle detection value detected by the upper boom hoist angle detector 33 and the upper boom load detection value detected by the upper boom load detector 34. The calculation means 6 controls the calculation. Further, in this embodiment, when the actual moment value of the upper boom 3 is calculated by the upper calculation means 6, the upper boom turning position detection value detected by the upper boom turning position detector 35 is added. That is, the lower boom 2 depends on the turning position of the upper boom 3 with respect to the lower boom 2.
(The strength and rigidity of the lower boom 2 are the strongest in the lower boom falling direction and the weakest at the position displaced by 90 ° in the horizontal direction from the lower boom undulating surface). In consideration of the difference between the strength and rigidity of the lower boom 2 depending on the orientation of the lower boom 2 (the direction with respect to the lower boom 2), the upper calculating means 6 calculates the actual moment value of the upper boom 3 by comparing the strength and rigidity of the lower boom 2 with the orientation of the upper boom 3. The decrease is added.

The control device includes an upper boom limit moment value storage means 8B for storing a limit moment value of the upper boom 3.
Is provided. This upper boom limit moment value storage means 8B stores the posture (length, undulation angle,
The limit moment value for each turning position is stored.
The control device includes a comparing means 9B for comparing the upper boom limit moment value stored in the upper boom limit moment value storing means 8B with the upper boom actual moment value calculated by the upper calculating means 6, and the comparing means 9B. 9B, an output means 10B for outputting an operation restriction signal to the upper boom operation restriction means 61 when it is determined that the upper boom actual moment value has reached the upper boom limit moment value. The basic configuration of the upper boom limit moment value storage means 8B, the comparison means 9B, the output means 10B and the like is also existing in the control device used in this type of boom type working vehicle.

In the control of the operating range of the upper boom 3, the upper calculating means 6 controls the upper boom length detector 32.
Upper boom length detection value from the upper boom undulation angle detector 33
Detected value of upper boom angle from upper boom and upper boom load detector 34
Boom load detection value and upper boom swing position detector 3
5 based on the detected value of the upper boom swing position from the upper boom 3
Is calculated, and the actual moment value of the upper boom 3 is previously stored in the upper boom limit moment value storage means 8B.
When the upper boom limit moment value stored in the upper boom reaches the upper boom limit moment value, the upper boom 3 is restricted so as not to be actuated further on the dangerous side (the upper boom extending side and the upper boom falling side). That is, during the boom operation, data relating to the moment of the upper boom 3 is input to the upper calculating means 6 every moment, where the actual moment value of the upper boom 3 is calculated. On the other hand, the comparison means 9B stores the actual moment value of the upper boom 3 and the upper boom limit moment value storage means 8B.
Is constantly compared with the upper boom limit moment value stored in step (b). When the comparing means 9B determines that the upper boom actual moment value has reached the upper boom limit moment value, the upper boom actuation is performed from the output means 10B. An operation restriction signal (a signal for prohibiting the dangerous operation of the upper boom 3) is output to the restriction means 61.

As described above, in the operating range control device according to the embodiment of the present invention, during the boom operation, the lower boom 2 is controlled by the AWL control method as described above.
The maximum operating range of the upper boom 3 is set to a predetermined range (lower boom 2) regardless of various conditions on the upper boom 3 side (load applied to the upper boom tip, upper boom length, upper boom up / down angle, upper boom turning position, etc.). Limit posture data value).

On the other hand, since the upper boom 3 is controlled by the AML control method independently of the operation range control of the lower boom 2 as described above, if the lower boom 2 reaches the limit position of the operation range and Even after the danger side operation of the boom 2 is restricted, if the moment on the upper boom 3 side has a margin, the upper boom 3 is operated to the working range expansion side until the upper boom actual moment value reaches the upper boom limit moment value. can do. In the aerial work vehicle shown in FIG.
Is 1 ton, the additional load applied to the top end of the upper boom (load on the workbench) is calculated as 1 ton for calculating the virtual rated moment value of the upper boom, and the workbench 4 in actual work is calculated. If the upper load is, for example, 0.5 tons, the operating range of the entire bending and extending boom 1 can be controlled as follows. That is, in FIG. 1, if the bending and retracting boom lowers the lower boom 2 from the posture of reference numeral 1 and the lower boom 2 reaches the limit posture in the posture of reference numeral 2 ′,
The lower boom operation restricting means 51 (FIG. 2) functions so that the lower boom cannot operate on the danger side (lower boom extension side and lower boom lowering side) from the position of 2 ', but the operation range of the upper boom 3 is lower. Since the upper boom is controlled independently of the boom side, if the upper boom has a margin in the state of reference numeral 3 ', it is lowered from that state until the upper boom limit moment value is reached as indicated by the reference numeral 3 ". In this case, the worktable can be moved from the position indicated by the reference numeral 4 'to the position indicated by the reference numeral 4 "toward the work radius enlargement side. In the state where the bending / extending boom has reached the lower boom limit posture state indicated by reference numeral 1 ',
If the upper boom 3 'has a spare extension capacity, the upper boom can be extended until it reaches the upper boom limit moment value instead of the upper boom falling operation.

As described above, in the operating range control device according to the embodiment of the present invention, even after the lower boom 2 has reached the limit position, the operating range of the upper boom 3 can be operated to the enlarged side to the limit range. The working range of the worktable 4 can be expanded as compared with the first conventional example shown in FIGS.
In this way, even if the working ranges of the lower boom 2 and the upper boom 3 are respectively extended to the limit ranges, the overturning moment of the entire boom type working vehicle does not exceed the safe range.

In the operating range control device of the embodiment of the present invention, the operating range of the lower boom 2 and the operating range of the upper boom 3 can be individually controlled. Even if operated without being conscious, the upper boom can be used in accordance with the magnitude of the load applied to the top end of the upper boom (the load on the workbench 4 for aerial work platforms, and the suspended load from the hanging hooks for a crane truck). The tip (for example, the worktable 4) can always reach the maximum working range. That is, in the lower boom 2 and the upper boom 3, even after operating any of the booms to the limit range first, the other booms can also be operated to the limit range.

On the other hand, in the case of the boom type working vehicle, the retracting operation of the bending / extending boom 1 is usually performed with almost no load acting on the upper boom. That is, the load applied to the top end of the upper boom during the storage operation is a light load such that several workers are on the workbench 4 for an aerial work vehicle, and a suspended load for a crane vehicle. Light load of load hook only. Then, the bending / extending boom 1 of the boom type working vehicle shown in FIG.
First, the upper boom 3 is maintained within a predetermined range on the storage posture side at the tip of the lower boom as shown by a solid line in FIG. 3, for example. Then, the upper calculating means 6 shown in FIG. 2 determines that the upper boom 3 is within the predetermined range on the storage posture side based on each data value relating to the posture of the upper boom 3,
A storage posture confirmation signal is issued from the upper calculation means 6 to the selection means 19, and the selection means 19 selects the lower boom second limit posture data value stored in the lower boom second limit posture data value storage means 18, and thereafter. The operating range of the lower boom 2 is controlled based on the lower boom second limit posture data value. When the operation range of the lower boom 2 is controlled based on the lower boom second limit posture data value, the allowable operation range of the lower boom can be extended to the dangerous side. Therefore, even when the lower boom 2 is lowered from the intermediate extension state as shown in FIG. 3 during the retracting operation of the bending and extending boom 1, for example, and the posture of the lower boom 2 reaches the limit by the AWL control in the normal operation, There is still room for the operation of the boom 2 on the falling side, so that the operating range of the lower boom on the falling side during the storage operation can be expanded. As described above, if the operation range of the lower boom on the falling side can be expanded, even if the storage operation sequence of the lower boom 2 is changed (normally, the lower boom is fully contracted and then lowered, but the lower boom is in the middle extension state). In some cases), the lower boom 2 may be allowed to fall down to a horizontal posture as it is, which facilitates the lower boom storing operation. Even when the operating range of the lower boom 2 is controlled based on the lower boom second limit attitude data value, when the lower boom actual attitude data value reaches the lower boom second limit attitude data value, the lower boom 2nd limit attitude data value becomes lower. Dangerous operation on the boom is prohibited and safety is ensured.

Finally, the lower boom 2 'can be fully reduced and tilted down to the horizontal position as shown by the dotted line (reference numeral 1') from the state shown by the solid line in FIG. . When running the vehicle, bend and extend the boom
The information is stored in a posture facing the front of the vehicle 11 as shown by a chain line (reference numeral 1 ″).

In another embodiment of the present invention, in the boom type working vehicle shown in FIG. 1, when the bending / extending boom 1 is stored from the use posture, the operation range of the lower boom 2 is restricted (lower boom limit posture data). In order to prevent the restriction based on the AWL control based on the value, the following can be performed. That is, when the postures of the lower boom 2 and the upper boom 3 are within the predetermined range on the storage posture side, the control of the operation range of the lower boom 2 can be released.

When the retractable boom 1 is stored from the use position, the retractable boom 1 is in a state shown by a solid line in FIG. 3, for example (in the state of FIG. 3, the upper boom 3 is in the completely retracted position and the lower boom 1 is in the lower position). If the lower boom 2 is directly lowered from the boom 2 in the middle extension position, the lower boom 2 may be prohibited from moving in the middle of the lower boom 2 by AWL control based on the lower boom limit posture data value. However, since the storage is performed in a state where there is almost no load acting on the upper boom 3,
Even if the operating range of the lower boom 2 is regulated by the AWL control, there is room left to operate the lower boom 2 to the storage side, and the storage amount of the lower boom 2 (lower boom (Downturning or shrinking).

The means for releasing the control of the operating range of the lower boom 2 includes, for example, manually releasing the control of the operating range of the lower boom when the attitude of the lower boom 2 and the upper boom 3 is within a predetermined range on the storage attitude side. A lower operation means 5 and an upper operation means 6 based on detection values from a detector (22, 23, 32, 33, 35, etc.) for detecting the posture of the lower boom 2 and the upper boom 3 using a release switch. When it is determined that the postures of the lower boom 2 and the upper boom 3 are within the predetermined range on the storage posture side, a signal is output to the output means 10A to automatically release the control of the lower boom operating range. You may. As described above, the condition for canceling the control of the lower boom operation range is as follows. In the boom type working vehicle of FIGS. 1 and 3, “the posture of the lower boom 2 and the upper boom 3 is within a predetermined range on the storage posture side. Time "is a requirement,
“The posture of the lower boom 2 is within a predetermined range on the storage posture side”
This means a state in which the lower boom 2 is reduced to a length within which a danger of falling does not occur even if the lower boom 2 is turned down in that position (the undulation angle of the lower boom is not particularly limited).
Further, "the posture of the upper boom 3 is within a predetermined range on the storage posture side" means a state in which the overturning moment on the upper boom side is reduced to within a predetermined range. In this case, when the lower boom 2 and the upper boom 3 satisfy the above condition and the control of the lower boom operating range is released during the retracting operation of the bending and extending boom 1, the lower boom 2 is moved to the lower boom. Even if the lower boom 2 is controlled by the AWL control method based on the limit posture data value, the lower boom 2 can be operated to the storage side (downside and downside) beyond the range controlled by the AWL. still,
As described above, when the control of the lower boom operation range is released, the raising and lowering operation and the expansion and contraction operation of the lower boom 2 can be performed. In this case, control is performed such that only the extension side operation of the lower boom 2 is prohibited. Is preferred. If the extension operation of the lower boom 2 is not prohibited, when the length of the lower boom reaches a predetermined range on the extension side (dangerous side), the control release state is canceled to return to the original control state. Good to do.

When the control of the lower boom operation range can be canceled as described above, the condition for canceling the control may be, depending on the type of the boom type work vehicle, “either the lower boom 2 or the upper boom 3”. When the posture of one of the booms falls within a predetermined range on the storage posture side. " For example, when the upper boom 3 is lightweight (for example, only one single boom), the posture of the lower boom 2 is “within the predetermined range on the storage posture side” ignoring the posture of the upper boom 3. In this case, control of the lower boom operation range can be released. Also, for example, when a short single boom is connected as the lower boom 2 and there are approximately two telescopic booms,
The control of the lower boom operation range may be released when the posture of the upper boom 3 alone is “within the predetermined range on the storage posture side”, ignoring the posture of the lower boom 2.

In the aerial work vehicle according to this embodiment, the upper boom 3 can be horizontally rotated by the attitude maintaining member 14 and the upper boom swivel 16 at the tip of the lower boom. Only the relatively light upper boom 3 can be turned horizontally while the second boom 2 is kept as it is. As described above, when only the upper boom 3 is turned horizontally, the turning radius of the working member (work table or suspended load hook) at the tip of the upper boom becomes smaller than when the lower boom 2 is turned. The distance becomes smaller. Therefore, when the working member at the top end of the upper boom is moved in the horizontal direction, a fine operation is possible (adjustment at the time of positioning is easy), workability is improved, and the lower boom 2 having a large weight is not moved. Power can be reduced.

Since the upper boom 3 can be turned horizontally with respect to the lower boom 2, the upper boom 3 is directed, for example, in the opposite direction (rotation angle 180 °) with respect to the lower boom 2. Work can be performed in the state. In a posture in which the direction of the upper boom 3 (the turning position with respect to the lower boom) is horizontally displaced from the lower boom undulating surface, even if the length and the undulating angle of the upper boom 3 are the maximum on the dangerous side, the lower The overturning moment for the boom 2 is smaller than when the upper boom undulation surface and the lower boom undulation surface are the same, but since the control of the operating range of the lower boom 2 and the control of the operating range of the lower boom 2 are performed separately, The operating range on the lower boom 2 side is constant regardless of the orientation of the upper boom 3.

In the operating range control device of this embodiment, when calculating the operating range of the upper boom 3, the upper boom 3 is also used by using the detected value of the upper boom turning position from the upper boom turning position detector 35. When displaced in the horizontal direction from the lower boom surface, the limit operation range of the upper boom 3 can be limited (reduced) in consideration of the displacement amount. Therefore, with this configuration, even when the upper boom 3 faces a position weak in strength and rigidity of the lower boom 2 (for example, a position displaced by 90 ° in the horizontal direction from the lower boom undulation surface), the upper boom 3 The lower boom 2 can be protected by limiting the maximum operating range of the lower boom to the reduced side.

In the embodiment of the present invention, a boom-type working vehicle in which the upper boom 3 can be turned horizontally at the tip of the lower boom is used. In other embodiments, the upper boom 3 is used. A type that does not rotate horizontally (the upper boom 3 undulates only on the same surface as the undulating surface of the lower boom 2) can be adopted. In this case, the upper boom 3 may be configured to lie in the opposite direction (left side in FIG. 1) to the lowering direction of the lower boom 2 (right side in FIG. 1). In the case where the upper boom 3 is laid down in the opposite direction to the lower boom 2 in this manner, the lower boom 2 is laid down to some extent (for example, the posture indicated by reference numeral 2 'in FIG. 1).
When the upper boom 3 is turned down (turned to the left opposite to the lower boom), the tipping moment of the entire work machine acts on the decreasing side, and conversely, when the upper boom 3 is raised (turned to the right), the tipping is performed. The moment acts on the increasing side. Therefore, when the upper boom 3 is caused to fall in the opposite direction to the lower boom 2 in such a manner, the upper boom 3 is raised (the moment around the upper boom fulcrum is small) to control the operation range of the upper boom 3. Must be set so that the upper boom approaches the limit operating range.

In the above-described embodiment, the attitude data of the outrigger 12 and the turning position data of the swivel base 13 are ignored for controlling the operating range of the bending type boom 1; It is natural to control with taking into account.

[0085]

The operating range control device for a boom type working vehicle according to the present invention has the following effects. According to the operating range control device of the present invention, the operating range of the lower boom 2 is controlled by a so-called AWL control method, while the operating range of the upper boom 3 is controlled by a so-called AML control method. Therefore, even if the posture of the lower boom 2 reaches the limit operation range, if there is room for the moment of the upper boom 3, the upper boom 3 is further moved to the limit posture (limit moment).
Can be operated on the expanded operation range side until the pressure reaches.

Therefore, the operating range control device according to the first aspect of the present invention has an effect that the operating range of the tip end of the upper boom can be expanded as compared with the first conventional example shown in FIGS. 4 and 5, for example.

Further, in the operating range control device according to the first aspect, since the operating range control of the lower boom 2 and the operating range control of the upper boom 3 can be performed individually, a combination of the postures of the lower boom 2 and the upper boom 3 can be achieved. The top boom tip can always reach the maximum working range, even if the operation is performed without considering the operation. That is, in the lower boom 2 and the upper boom 3, even after operating any of the booms to the limit range first, the other booms can also be operated to the limit range, and it is not necessary to consider the operation order. This has the effect of improving workability. According to the operation range control device of the second aspect of the present invention, the upper boom 3 is horizontally moved to the distal end of the lower boom 2 via the posture maintaining member 14 and the upper boom swivel base 16 in the first aspect. Since it is pivotally mounted, only the relatively short upper boom 3 can be horizontally rotated while the long lower boom 2 is kept as it is.
In this way, when only the relatively short upper boom 3 is horizontally turned, the turning radius of the working member (work table or hanging hook) at the top end of the upper boom is smaller than when the lower boom 2 is turned. It becomes smaller and the moving distance becomes smaller.

Therefore, in the operation range control device according to the second aspect, in addition to the effect of the first aspect, a fine operation can be performed when the working member at the top end of the upper boom is moved in the horizontal direction (the positioning operation). (Adjustment is easy), the workability is improved, and the boom 2 does not need to be moved under a large weight, so that the power can be reduced. According to the operating range control device of the present invention, the turning position of the upper boom 3 with respect to the lower boom tip is detected, and when the operating range of the upper boom 3 is calculated, The calculating means calculates using the turning position data of the upper boom (the detected value of the upper boom turning position).

Therefore, in the operating range control device according to the third aspect, in addition to the effect of the second aspect, in the case where the upper boom 3 is turned horizontally, the position where the upper boom 3 is weak against the strength and rigidity of the lower boom 2 is provided. (The weakest is when the upper boom 3 faces the position displaced by 90 degrees in the horizontal direction from the lower boom undulating surface.) Even if the upper boom 3 faces the upper boom 3, the maximum operating range on the upper boom 3 side should be limited. Thus, there is an effect that the lower boom 2 can be protected. Effect of the Invention of Claim 4 In the operating range control device of claim 4 of the present application, in any one of claims 1 to 3, the upper boom 3 uses an extendable type and the length of the upper boom 3 The upper boom length detector 32 for detecting the upper boom 3 is provided, and when the operation range of the upper boom 3 is calculated, the calculation is also performed using the upper boom length detection value detected by the upper boom length detector 32. .

As described above, in the operation range control device according to the fourth aspect, in addition to the effects of the first to third aspects, the upper boom 3 is controlled in consideration of the data value relating to the upper boom length (upper boom length detection value). By calculating the moment generated on the side, there is an effect that even if the upper boom 3 is of a telescopic type, the maximum operating range of the upper boom 3 can be controlled to a safe range. According to the operation range control device of the present invention , the upper boom virtual rated moment value and the overturning moment on the upper boom side are the maximum on the danger side. Is set to the value when it is assumed that

Therefore, in the operation range control device according to the fifth aspect, in addition to the effects of the first to fourth aspects, the load applied to the top end of the upper boom when the upper boom 3 reaches the dangerous side maximum falling posture during actual work. Even if the maximum allowable limit is reached, the operating range of the lower boom 2 is limited to the safe range, so that there is an effect that the safety with respect to falling during work is always ensured. According to the working range control device of the present invention, in addition to the lower boom limit posture data value used in a normal boom operation, the operation range control device according to any one of the first to fifth embodiments, The lower boom second limit posture data value that is a large value is stored, and when the posture of the upper boom 3 is within a predetermined range on the storage posture side, the operation range of the lower boom 2 is changed to the lower boom second position. The limit posture data value is selected, and the lower boom actual posture data value and the lower boom second limit posture data value are compared to control.

If the lower boom second limit posture data value is selected while the posture of the upper boom 3 is within the predetermined range on the storage posture side, the limit operation range of the lower boom 2 is set to the normal operation time. Can be larger than the lower boom working range. Therefore, in the operation range control device according to the sixth aspect,
In addition to the effects of the first to fifth aspects, it is possible to lower the lower boom 2 to a lower position during the boom storing operation, so that the operation of storing the boom can be easily performed. In the operating range control device according to the sixth aspect, even when the lower boom second limit posture data value is selected during the boom storing operation, the operating range of the lower boom 2 falls within the safe range with respect to falling. Effect of the Invention of Claim 7 In the operating range control device of claim 7 of the present application, in any one of claims 1 to 5, the posture of the lower boom 2 and the upper boom 3 is within a predetermined range on the storage posture side. Sometimes lower boom 2
The control of the operating range of can be released.

In the operating range control device according to the seventh aspect, when the control of the operating range of the lower boom 2 is released, the limit operating range of the lower boom 2 is changed to the lower boom operating during normal operation, similarly to the sixth aspect. Can be larger than the range. Therefore, in the operating range control device according to claim 7, claims 1 to
In addition to the effect of 5, the lower boom 2 can be lowered to a lower position during the boom storing operation, and there is an effect that the operation at the time of storing the boom can be easily performed.

[Brief description of the drawings]

FIG. 1 is a side view of a boom-type work vehicle (a high-place work vehicle) provided with an operation range control device according to an embodiment of the present application.

FIG. 2 is a block diagram of an operation range control device used in the boom-type work vehicle (height work vehicle) of FIG. 1;

FIG. 3 is a view showing a change in posture of the boom type work vehicle shown in FIG. 1;

FIG. 4 is a side view of an aerial work vehicle equipped with an operation range control device of a first conventional example.

FIG. 5 is a block diagram of an operation range control device used in the aerial work vehicle of FIG. 4;

FIG. 6 is a side view of an aerial work vehicle equipped with an operation range control device of a second conventional example.

FIG. 7 is a block diagram of an operation range control device used in the aerial work vehicle of FIG. 6;

[Explanation of symbols]

1 is a bending / extending boom, 2 is a lower boom, 3 is an upper boom, 4 is a workbench, 5 is a lower calculating means, 6 is an upper calculating means, 11 is a vehicle, 13 is a turntable, 14 is a posture maintaining member, 16 is An upper boom swivel, 18 a lower boom second limit attitude data value storage means, 19 a selection means, 21 an up / down cylinder, 22 a lower boom length detector, 23 a lower boom up / down angle detector, 31
Is a bending / extending cylinder, 32 is an upper boom length detector, 33 is an upper boom undulation angle detector, 34 is an upper boom load detector, 35
Is an upper boom turning position detector, and 38 is an upper boom virtual rated moment memory.

Claims (7)

[Claims] A traveling vehicle (11) and a vehicle (11)
A swivel table (13) provided on the swivel table (13) so as to be horizontally swivelable, and a telescopic lower boom (2) provided up and down on the swivel table (13).
And a top boom (3) provided at the tip of the bottom boom (2) so as to be able to bend and extend in a vertical plane, and a lower boom length for detecting the length of the lower boom (2). A detector (22), a lower boom hoist angle detector (23) for detecting the hoist angle of the lower boom (2), and an upper boom hoist angle detector (33) for detecting the hoist angle of the upper boom (3). And an upper boom load detector (34) for detecting a load acting on the upper boom (3). The upper boom when the overturning moment on the upper boom (3) is assumed to be a constant value on the dangerous side. The lower boom limit attitude data value obtained using the virtual rated moment value is stored in the lower boom limit attitude data value storage means (8A), while the upper boom limit moment value around the upper boom fulcrum is stored in the upper boom limit moment. Stored in the value storage means (8B) Come, operating range of the lower boom (2) is lower boom length detector (2
A lower boom actual posture data value calculated by the lower calculating means (5) based on the lower boom length detection value detected in 2) and the lower boom raising / lowering angle detection value detected by the lower boom raising / lowering angle detector (23); The lower boom limit attitude data value storage means (8A) compares and controls the lower boom limit attitude data value. The operating range of the upper boom (3) is controlled by an upper boom elevation angle detector (33). The upper boom actual moment value calculated by the upper calculation means (6) based on the upper boom hoist angle detection value detected by the above and the upper boom load detection value detected by the upper boom load detector (34), and the upper boom limit moment Value storage means (8B)
An operating range control device for a boom-type work vehicle, wherein the operation is controlled independently of the control of the lower boom (2) by comparing with the upper boom limit moment value stored in (1). 2. The posture maintaining member (14) is provided at the distal end of the lower boom (2), and the posture maintaining member (14) is provided with an upper boom swivel (16) that is horizontally rotatable. , The upper boom swivel (16)
An operating range control device for a boom type working vehicle, wherein an upper boom (3) is mounted on the upper part so as to be able to be raised and lowered. 3. An upper boom turning position detector (35) for detecting a turning position of an upper boom (3) with respect to a lower boom tip portion, wherein the upper boom (3) calculates an operating range of the upper boom (3). Upper computation means (6)
The operation range control device for a boom-type work vehicle, wherein the operation is also performed using the detected value of the upper boom turning position detected by the upper boom turning position detector (35). 4. An upper boom length detector (3) according to any one of claims 1 to 3, wherein the upper boom (3) is of an extendable type and detects the length of the upper boom (3). 3
2) is provided, and when calculating the operating range of the upper boom (3),
An operating range control device for a boom-type work vehicle, wherein the upper calculating means (6) calculates using an upper boom length detection value detected by the upper boom length detector (32). 5. The upper boom virtual rated moment value according to claim 1, wherein the upper boom virtual rated moment value is a value when it is assumed that the overturning moment on the upper boom (3) becomes the maximum on the dangerous side. An operating range control device for a boom type working vehicle, characterized in that: 6. The second limit posture data value of the lower boom obtained using the upper boom second virtual rated moment value smaller than the upper boom virtual rated moment value according to any one of claims 1 to 5. Is stored in the lower boom second limit attitude data value storage means (18), and when the attitude of the upper boom (3) is within a predetermined range of the storage attitude, the operating range of the lower boom (2) is determined. , Lower boom second
The lower boom second limit posture data value stored in the limit posture data value storage means (18) is selected, and the lower boom actual posture data value is compared with the lower boom second limit posture data value so as to be controlled. An operating range control device for a boom type working vehicle, characterized in that: 7. The operation of the lower boom (2) according to claim 1, wherein the posture of the lower boom (2) and the upper boom (3) is within a predetermined range on the storage posture side. An operating range control device for a boom-type work vehicle, wherein the control of the range can be released.